1795 lines
76 KiB
Plaintext
1795 lines
76 KiB
Plaintext
/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.
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warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
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Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
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Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
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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.
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See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
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[16:07:21] ============================================================
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[16:07:21] Exp 23: generated_road — clean barriers, clean reward
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[16:07:21] Sim: localhost:9091 -> generated_road
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[16:07:21] throttle_min=0.2, lr=0.0003, total=200,000
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[16:07:21] Reward: v7 (speed×CTE, efficiency gate, no-progress kill)
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[16:07:21] Max stuck: 5.0s, episode cap: 120.0s (safety net)
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[16:07:21] Progress patience: 100 steps
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[16:07:21] Checkpoints every 10,000 steps
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[16:07:21] ============================================================
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[16:07:21] Creating DummyVecEnv on generated_road...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: [33mWARN: Box low's precision lowered by casting to float32, current low.dtype=float64[0m
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gym.logger.warn(
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/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: [33mWARN: Box high's precision lowered by casting to float32, current high.dtype=float64[0m
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gym.logger.warn(
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WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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loading scene generated_road
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[16:07:22] VecEnv num_envs=1, obs=(3, 120, 160)
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Using cpu device
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[16:07:23] Fresh PPO model created. Starting training...
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INFO:exp23:[16:07:23] ============================================================
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INFO:exp23:[16:07:23] Exp 23 started — PID 649531
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INFO:exp23:[16:07:23] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/run_2026-05-05_160723_clean.log
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INFO:exp23:[16:07:23] ============================================================
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-----------------------------
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| time/ | |
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| fps | 27 |
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| iterations | 1 |
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| time_elapsed | 73 |
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| total_timesteps | 2048 |
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-----------------------------
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-----------------------------------------
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| time/ | |
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| fps | 21 |
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| iterations | 2 |
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| time_elapsed | 193 |
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| total_timesteps | 4096 |
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| train/ | |
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| approx_kl | 0.012727882 |
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| clip_fraction | 0.0876 |
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| clip_range | 0.2 |
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| entropy_loss | -2.84 |
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| explained_variance | 0.0534 |
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| learning_rate | 0.0003 |
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| loss | 0.0493 |
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| n_updates | 10 |
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| policy_gradient_loss | -0.011 |
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| std | 1.01 |
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| value_loss | 0.666 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
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| fps | 20 |
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| iterations | 3 |
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| time_elapsed | 302 |
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| total_timesteps | 6144 |
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| train/ | |
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| approx_kl | 0.009811729 |
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| clip_fraction | 0.137 |
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| clip_range | 0.2 |
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| entropy_loss | -2.86 |
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| explained_variance | 0.568 |
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| learning_rate | 0.0003 |
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| loss | 0.103 |
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| n_updates | 20 |
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| policy_gradient_loss | -0.0206 |
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| std | 1.02 |
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| value_loss | 0.318 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
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| fps | 20 |
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| iterations | 4 |
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| time_elapsed | 402 |
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| total_timesteps | 8192 |
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| train/ | |
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| approx_kl | 0.015685663 |
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| clip_fraction | 0.147 |
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| clip_range | 0.2 |
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| entropy_loss | -2.87 |
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| explained_variance | 0.532 |
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| learning_rate | 0.0003 |
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| loss | 0.15 |
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| n_updates | 30 |
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| policy_gradient_loss | -0.025 |
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| std | 1.01 |
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| value_loss | 0.679 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
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| fps | 20 |
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| iterations | 5 |
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| time_elapsed | 500 |
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| total_timesteps | 10240 |
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| train/ | |
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| approx_kl | 0.016000155 |
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| clip_fraction | 0.166 |
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| clip_range | 0.2 |
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| entropy_loss | -2.86 |
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| explained_variance | 0.339 |
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| learning_rate | 0.0003 |
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| loss | 0.744 |
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| n_updates | 40 |
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| policy_gradient_loss | -0.0195 |
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| std | 1.01 |
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| value_loss | 1.54 |
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-----------------------------------------
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INFO:exp23:[16:16:30] [10,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0010000.zip
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INFO:exp23:[16:16:57] Eval: gen_road=403.8r/2000s ✅
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INFO:exp23:[16:16:57] NEW BEST: steps=2000 reward=403.8
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------------------------------
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| time/ | |
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| fps | 52 |
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| iterations | 1 |
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| time_elapsed | 38 |
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| total_timesteps | 12288 |
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------------------------------
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-----------------------------------------
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| time/ | |
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| fps | 31 |
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| iterations | 2 |
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| time_elapsed | 129 |
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| total_timesteps | 14336 |
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| train/ | |
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| approx_kl | 0.018563159 |
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| clip_fraction | 0.223 |
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| clip_range | 0.2 |
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| entropy_loss | -2.85 |
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| explained_variance | 0.25 |
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||
| learning_rate | 0.0003 |
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| loss | 0.973 |
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| n_updates | 60 |
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| policy_gradient_loss | -0.0122 |
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| std | 1 |
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| value_loss | 2.35 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
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| fps | 28 |
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| iterations | 3 |
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| time_elapsed | 212 |
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| total_timesteps | 16384 |
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| train/ | |
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||
| approx_kl | 0.015946057 |
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||
| clip_fraction | 0.161 |
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| clip_range | 0.2 |
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| entropy_loss | -2.84 |
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||
| explained_variance | 0.295 |
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||
| learning_rate | 0.0003 |
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||
| loss | 1.53 |
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||
| n_updates | 70 |
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||
| policy_gradient_loss | -0.0121 |
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| std | 1 |
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| value_loss | 2.79 |
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-----------------------------------------
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----------------------------------------
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| time/ | |
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| fps | 28 |
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||
| iterations | 4 |
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| time_elapsed | 287 |
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| total_timesteps | 18432 |
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| train/ | |
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||
| approx_kl | 0.01855317 |
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||
| clip_fraction | 0.2 |
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| clip_range | 0.2 |
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| entropy_loss | -2.84 |
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||
| explained_variance | 0.3 |
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||
| learning_rate | 0.0003 |
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||
| loss | 1.27 |
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||
| n_updates | 80 |
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||
| policy_gradient_loss | -0.0168 |
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| std | 1 |
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| value_loss | 3.01 |
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----------------------------------------
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-----------------------------------------
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| time/ | |
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| fps | 27 |
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| iterations | 5 |
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| time_elapsed | 369 |
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| total_timesteps | 20480 |
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| train/ | |
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| approx_kl | 0.017487168 |
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| clip_fraction | 0.193 |
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| clip_range | 0.2 |
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| entropy_loss | -2.84 |
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||
| explained_variance | 0.243 |
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||
| learning_rate | 0.0003 |
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||
| loss | 1.19 |
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||
| n_updates | 90 |
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||
| policy_gradient_loss | -0.0139 |
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| std | 1 |
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| value_loss | 3.11 |
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-----------------------------------------
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INFO:exp23:[16:23:49] [20,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0020000.zip
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INFO:exp23:[16:24:16] Eval: gen_road=376.2r/2000s ✅
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------------------------------
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| time/ | |
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||
| fps | 64 |
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||
| iterations | 1 |
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| time_elapsed | 31 |
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| total_timesteps | 22528 |
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------------------------------
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-----------------------------------------
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| time/ | |
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||
| fps | 38 |
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||
| iterations | 2 |
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| time_elapsed | 107 |
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| total_timesteps | 24576 |
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| train/ | |
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||
| approx_kl | 0.027157893 |
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||
| clip_fraction | 0.238 |
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||
| clip_range | 0.2 |
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||
| entropy_loss | -2.84 |
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||
| explained_variance | 0.173 |
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||
| learning_rate | 0.0003 |
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||
| loss | 1.74 |
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||
| n_updates | 110 |
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||
| policy_gradient_loss | -0.0072 |
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||
| std | 1 |
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||
| value_loss | 3.58 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
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||
| fps | 32 |
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||
| iterations | 3 |
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||
| time_elapsed | 186 |
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| total_timesteps | 26624 |
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||
| train/ | |
|
||
| approx_kl | 0.019351475 |
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||
| clip_fraction | 0.286 |
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||
| clip_range | 0.2 |
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||
| entropy_loss | -2.84 |
|
||
| explained_variance | 0.132 |
|
||
| learning_rate | 0.0003 |
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||
| loss | 2.04 |
|
||
| n_updates | 120 |
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||
| policy_gradient_loss | -0.0109 |
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||
| std | 1.01 |
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| value_loss | 4.1 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 30 |
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||
| iterations | 4 |
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||
| time_elapsed | 267 |
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||
| total_timesteps | 28672 |
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||
| train/ | |
|
||
| approx_kl | 0.017389052 |
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||
| clip_fraction | 0.241 |
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||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.85 |
|
||
| explained_variance | 0.22 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.42 |
|
||
| n_updates | 130 |
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||
| policy_gradient_loss | -0.00863 |
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||
| std | 1.01 |
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||
| value_loss | 4.1 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 28 |
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||
| iterations | 5 |
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||
| time_elapsed | 355 |
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||
| total_timesteps | 30720 |
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||
| train/ | |
|
||
| approx_kl | 0.020130686 |
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||
| clip_fraction | 0.263 |
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||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.85 |
|
||
| explained_variance | 0.0826 |
|
||
| learning_rate | 0.0003 |
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||
| loss | 3.3 |
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||
| n_updates | 140 |
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||
| policy_gradient_loss | -0.0125 |
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||
| std | 1.01 |
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||
| value_loss | 6.85 |
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-----------------------------------------
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INFO:exp23:[16:31:10] [30,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0030000.zip
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INFO:exp23:[16:31:28] Eval: gen_road=289.7r/1219s ❌@1219
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------------------------------
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| time/ | |
|
||
| fps | 66 |
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||
| iterations | 1 |
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||
| time_elapsed | 30 |
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||
| total_timesteps | 32768 |
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------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 34 |
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||
| iterations | 2 |
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||
| time_elapsed | 118 |
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||
| total_timesteps | 34816 |
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||
| train/ | |
|
||
| approx_kl | 0.022478392 |
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||
| clip_fraction | 0.244 |
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||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.85 |
|
||
| explained_variance | 0.179 |
|
||
| learning_rate | 0.0003 |
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||
| loss | 0.678 |
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||
| n_updates | 160 |
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||
| policy_gradient_loss | -0.0126 |
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||
| std | 1 |
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||
| value_loss | 3.3 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 32 |
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||
| iterations | 3 |
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||
| time_elapsed | 187 |
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| total_timesteps | 36864 |
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| train/ | |
|
||
| approx_kl | 0.030043777 |
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||
| clip_fraction | 0.289 |
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||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.84 |
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||
| explained_variance | 0.275 |
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||
| learning_rate | 0.0003 |
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||
| loss | 2.52 |
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||
| n_updates | 170 |
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||
| policy_gradient_loss | -0.00318 |
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||
| std | 1 |
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||
| value_loss | 6.43 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 32 |
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||
| iterations | 4 |
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||
| time_elapsed | 254 |
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| total_timesteps | 38912 |
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| train/ | |
|
||
| approx_kl | 0.020345446 |
|
||
| clip_fraction | 0.236 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.84 |
|
||
| explained_variance | 0.361 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.235 |
|
||
| n_updates | 180 |
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||
| policy_gradient_loss | -0.00844 |
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||
| std | 1 |
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||
| value_loss | 2.42 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 31 |
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||
| iterations | 5 |
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||
| time_elapsed | 325 |
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||
| total_timesteps | 40960 |
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||
| train/ | |
|
||
| approx_kl | 0.024092756 |
|
||
| clip_fraction | 0.237 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.84 |
|
||
| explained_variance | 0.486 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.78 |
|
||
| n_updates | 190 |
|
||
| policy_gradient_loss | -0.0108 |
|
||
| std | 1 |
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||
| value_loss | 1.99 |
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-----------------------------------------
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INFO:exp23:[16:37:29] [40,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0040000.zip
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INFO:exp23:[16:37:56] Eval: gen_road=452.1r/1951s ❌@1951
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------------------------------
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||
| time/ | |
|
||
| fps | 73 |
|
||
| iterations | 1 |
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||
| time_elapsed | 28 |
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| total_timesteps | 43008 |
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------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 43 |
|
||
| iterations | 2 |
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||
| time_elapsed | 93 |
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||
| total_timesteps | 45056 |
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||
| train/ | |
|
||
| approx_kl | 0.027982034 |
|
||
| clip_fraction | 0.262 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.87 |
|
||
| explained_variance | 0.185 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.42 |
|
||
| n_updates | 210 |
|
||
| policy_gradient_loss | -0.00818 |
|
||
| std | 1.02 |
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||
| value_loss | 3.07 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 161 |
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| total_timesteps | 47104 |
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| train/ | |
|
||
| approx_kl | 0.053084552 |
|
||
| clip_fraction | 0.33 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.87 |
|
||
| explained_variance | 0.103 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.131 |
|
||
| n_updates | 220 |
|
||
| policy_gradient_loss | 0.00247 |
|
||
| std | 1.02 |
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||
| value_loss | 1.6 |
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-----------------------------------------
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-----------------------------------------
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| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 231 |
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||
| total_timesteps | 49152 |
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| train/ | |
|
||
| approx_kl | 0.018902654 |
|
||
| clip_fraction | 0.215 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.87 |
|
||
| explained_variance | 0.495 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.22 |
|
||
| n_updates | 230 |
|
||
| policy_gradient_loss | -0.00188 |
|
||
| std | 1.01 |
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||
| value_loss | 1.51 |
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-----------------------------------------
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-----------------------------------------
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||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 298 |
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||
| total_timesteps | 51200 |
|
||
| train/ | |
|
||
| approx_kl | 0.020705111 |
|
||
| clip_fraction | 0.244 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.86 |
|
||
| explained_variance | 0.63 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.466 |
|
||
| n_updates | 240 |
|
||
| policy_gradient_loss | -0.00597 |
|
||
| std | 1.01 |
|
||
| value_loss | 1.45 |
|
||
-----------------------------------------
|
||
INFO:exp23:[16:43:32] [50,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0050000.zip
|
||
INFO:exp23:[16:43:57] Eval: gen_road=457.1r/1753s ❌@1753
|
||
------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 53248 |
|
||
------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 44 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 91 |
|
||
| total_timesteps | 55296 |
|
||
| train/ | |
|
||
| approx_kl | 0.030220592 |
|
||
| clip_fraction | 0.27 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.86 |
|
||
| explained_variance | 0.69 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.509 |
|
||
| n_updates | 260 |
|
||
| policy_gradient_loss | -0.0111 |
|
||
| std | 1.01 |
|
||
| value_loss | 1.48 |
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||
-----------------------------------------
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-----------------------------------------
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 161 |
|
||
| total_timesteps | 57344 |
|
||
| train/ | |
|
||
| approx_kl | 0.024165533 |
|
||
| clip_fraction | 0.275 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.87 |
|
||
| explained_variance | 0.649 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.0865 |
|
||
| n_updates | 270 |
|
||
| policy_gradient_loss | -0.0089 |
|
||
| std | 1.02 |
|
||
| value_loss | 1.54 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 226 |
|
||
| total_timesteps | 59392 |
|
||
| train/ | |
|
||
| approx_kl | 0.022396056 |
|
||
| clip_fraction | 0.317 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.89 |
|
||
| explained_variance | 0.179 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 2.02 |
|
||
| n_updates | 280 |
|
||
| policy_gradient_loss | 0.00141 |
|
||
| std | 1.04 |
|
||
| value_loss | 3.98 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 293 |
|
||
| total_timesteps | 61440 |
|
||
| train/ | |
|
||
| approx_kl | 0.03801451 |
|
||
| clip_fraction | 0.328 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.9 |
|
||
| explained_variance | 0.149 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.31 |
|
||
| n_updates | 290 |
|
||
| policy_gradient_loss | 0.00172 |
|
||
| std | 1.03 |
|
||
| value_loss | 4.42 |
|
||
----------------------------------------
|
||
INFO:exp23:[16:49:28] [60,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0060000.zip
|
||
INFO:exp23:[16:49:32] Eval: gen_road=31.7r/119s ❌@119
|
||
------------------------------
|
||
| time/ | |
|
||
| fps | 70 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 29 |
|
||
| total_timesteps | 63488 |
|
||
------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 42 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 95 |
|
||
| total_timesteps | 65536 |
|
||
| train/ | |
|
||
| approx_kl | 0.042009473 |
|
||
| clip_fraction | 0.323 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.91 |
|
||
| explained_variance | 0.387 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 3.26 |
|
||
| n_updates | 310 |
|
||
| policy_gradient_loss | -0.00147 |
|
||
| std | 1.04 |
|
||
| value_loss | 6.36 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 161 |
|
||
| total_timesteps | 67584 |
|
||
| train/ | |
|
||
| approx_kl | 0.037721604 |
|
||
| clip_fraction | 0.274 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.91 |
|
||
| explained_variance | 0.277 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 3.1 |
|
||
| n_updates | 320 |
|
||
| policy_gradient_loss | -0.00803 |
|
||
| std | 1.04 |
|
||
| value_loss | 5.67 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 231 |
|
||
| total_timesteps | 69632 |
|
||
| train/ | |
|
||
| approx_kl | 0.024771407 |
|
||
| clip_fraction | 0.339 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.91 |
|
||
| explained_variance | 0.0675 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.94 |
|
||
| n_updates | 330 |
|
||
| policy_gradient_loss | -0.000833 |
|
||
| std | 1.04 |
|
||
| value_loss | 5.25 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 298 |
|
||
| total_timesteps | 71680 |
|
||
| train/ | |
|
||
| approx_kl | 0.04476459 |
|
||
| clip_fraction | 0.309 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.92 |
|
||
| explained_variance | 0.342 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 4.02 |
|
||
| n_updates | 340 |
|
||
| policy_gradient_loss | -0.00952 |
|
||
| std | 1.05 |
|
||
| value_loss | 8.05 |
|
||
----------------------------------------
|
||
INFO:exp23:[16:55:06] [70,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0070000.zip
|
||
INFO:exp23:[16:55:11] Eval: gen_road=50.2r/171s ❌@171
|
||
------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 73728 |
|
||
------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 43 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 93 |
|
||
| total_timesteps | 75776 |
|
||
| train/ | |
|
||
| approx_kl | 0.03761123 |
|
||
| clip_fraction | 0.356 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.94 |
|
||
| explained_variance | 0.265 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.905 |
|
||
| n_updates | 360 |
|
||
| policy_gradient_loss | 0.00262 |
|
||
| std | 1.05 |
|
||
| value_loss | 1.53 |
|
||
----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 158 |
|
||
| total_timesteps | 77824 |
|
||
| train/ | |
|
||
| approx_kl | 0.038256083 |
|
||
| clip_fraction | 0.364 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.95 |
|
||
| explained_variance | 0.284 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.965 |
|
||
| n_updates | 370 |
|
||
| policy_gradient_loss | 0.00265 |
|
||
| std | 1.06 |
|
||
| value_loss | 4.81 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 222 |
|
||
| total_timesteps | 79872 |
|
||
| train/ | |
|
||
| approx_kl | 0.04706876 |
|
||
| clip_fraction | 0.376 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.97 |
|
||
| explained_variance | 0.293 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.2 |
|
||
| n_updates | 380 |
|
||
| policy_gradient_loss | 0.00318 |
|
||
| std | 1.08 |
|
||
| value_loss | 4.1 |
|
||
----------------------------------------
|
||
---------------------------------------
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 287 |
|
||
| total_timesteps | 81920 |
|
||
| train/ | |
|
||
| approx_kl | 0.0504843 |
|
||
| clip_fraction | 0.291 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.98 |
|
||
| explained_variance | 0.584 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.356 |
|
||
| n_updates | 390 |
|
||
| policy_gradient_loss | -0.00369 |
|
||
| std | 1.07 |
|
||
| value_loss | 1.98 |
|
||
---------------------------------------
|
||
INFO:exp23:[17:00:34] [80,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0080000.zip
|
||
INFO:exp23:[17:00:55] Eval: gen_road=450.0r/1501s ❌@1501
|
||
------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 83968 |
|
||
------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 39 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 104 |
|
||
| total_timesteps | 86016 |
|
||
| train/ | |
|
||
| approx_kl | 0.041178867 |
|
||
| clip_fraction | 0.338 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3 |
|
||
| explained_variance | 0.406 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.39 |
|
||
| n_updates | 410 |
|
||
| policy_gradient_loss | -0.00519 |
|
||
| std | 1.09 |
|
||
| value_loss | 1.1 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 175 |
|
||
| total_timesteps | 88064 |
|
||
| train/ | |
|
||
| approx_kl | 0.040968597 |
|
||
| clip_fraction | 0.349 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.01 |
|
||
| explained_variance | 0.561 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.118 |
|
||
| n_updates | 420 |
|
||
| policy_gradient_loss | 0.00356 |
|
||
| std | 1.09 |
|
||
| value_loss | 1.68 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 33 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 242 |
|
||
| total_timesteps | 90112 |
|
||
| train/ | |
|
||
| approx_kl | 0.038171332 |
|
||
| clip_fraction | 0.315 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.02 |
|
||
| explained_variance | 0.23 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.483 |
|
||
| n_updates | 430 |
|
||
| policy_gradient_loss | -0.00498 |
|
||
| std | 1.11 |
|
||
| value_loss | 2.82 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 32 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 319 |
|
||
| total_timesteps | 92160 |
|
||
| train/ | |
|
||
| approx_kl | 0.036780134 |
|
||
| clip_fraction | 0.344 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.04 |
|
||
| explained_variance | 0.531 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.554 |
|
||
| n_updates | 440 |
|
||
| policy_gradient_loss | -0.000642 |
|
||
| std | 1.12 |
|
||
| value_loss | 3.38 |
|
||
-----------------------------------------
|
||
INFO:exp23:[17:06:55] [90,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0090000.zip
|
||
INFO:exp23:[17:07:16] Eval: gen_road=428.4r/1436s ❌@1436
|
||
------------------------------
|
||
| time/ | |
|
||
| fps | 70 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 29 |
|
||
| total_timesteps | 94208 |
|
||
------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 41 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 99 |
|
||
| total_timesteps | 96256 |
|
||
| train/ | |
|
||
| approx_kl | 0.064061046 |
|
||
| clip_fraction | 0.368 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.07 |
|
||
| explained_variance | 0.106 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.313 |
|
||
| n_updates | 460 |
|
||
| policy_gradient_loss | -0.000814 |
|
||
| std | 1.13 |
|
||
| value_loss | 3.79 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 166 |
|
||
| total_timesteps | 98304 |
|
||
| train/ | |
|
||
| approx_kl | 0.03818226 |
|
||
| clip_fraction | 0.337 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.07 |
|
||
| explained_variance | 0.277 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.09 |
|
||
| n_updates | 470 |
|
||
| policy_gradient_loss | -0.000984 |
|
||
| std | 1.13 |
|
||
| value_loss | 4.3 |
|
||
----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 234 |
|
||
| total_timesteps | 100352 |
|
||
| train/ | |
|
||
| approx_kl | 0.07311188 |
|
||
| clip_fraction | 0.373 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.08 |
|
||
| explained_variance | 0.155 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.266 |
|
||
| n_updates | 480 |
|
||
| policy_gradient_loss | -0.00255 |
|
||
| std | 1.13 |
|
||
| value_loss | 1.48 |
|
||
----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 33 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 301 |
|
||
| total_timesteps | 102400 |
|
||
| train/ | |
|
||
| approx_kl | 0.046712708 |
|
||
| clip_fraction | 0.326 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.08 |
|
||
| explained_variance | 0.704 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.166 |
|
||
| n_updates | 490 |
|
||
| policy_gradient_loss | -0.0018 |
|
||
| std | 1.14 |
|
||
| value_loss | 1.42 |
|
||
-----------------------------------------
|
||
INFO:exp23:[17:12:54] [100,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0100000.zip
|
||
INFO:exp23:[17:13:18] Eval: gen_road=464.0r/1700s ❌@1700
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 104448 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 43 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 94 |
|
||
| total_timesteps | 106496 |
|
||
| train/ | |
|
||
| approx_kl | 0.034854777 |
|
||
| clip_fraction | 0.304 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.08 |
|
||
| explained_variance | 0.701 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.148 |
|
||
| n_updates | 510 |
|
||
| policy_gradient_loss | -0.011 |
|
||
| std | 1.14 |
|
||
| value_loss | 1.25 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 161 |
|
||
| total_timesteps | 108544 |
|
||
| train/ | |
|
||
| approx_kl | 0.045809295 |
|
||
| clip_fraction | 0.347 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.08 |
|
||
| explained_variance | 0.278 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.927 |
|
||
| n_updates | 520 |
|
||
| policy_gradient_loss | -0.00439 |
|
||
| std | 1.14 |
|
||
| value_loss | 2.56 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 233 |
|
||
| total_timesteps | 110592 |
|
||
| train/ | |
|
||
| approx_kl | 0.043633107 |
|
||
| clip_fraction | 0.362 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.09 |
|
||
| explained_variance | 0.604 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.117 |
|
||
| n_updates | 530 |
|
||
| policy_gradient_loss | -0.00376 |
|
||
| std | 1.14 |
|
||
| value_loss | 1.07 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 300 |
|
||
| total_timesteps | 112640 |
|
||
| train/ | |
|
||
| approx_kl | 0.044127725 |
|
||
| clip_fraction | 0.314 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.1 |
|
||
| explained_variance | 0.664 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.591 |
|
||
| n_updates | 540 |
|
||
| policy_gradient_loss | -0.00432 |
|
||
| std | 1.16 |
|
||
| value_loss | 3.08 |
|
||
-----------------------------------------
|
||
INFO:exp23:[17:19:03] [110,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0110000.zip
|
||
INFO:exp23:[17:19:16] Eval: gen_road=251.4r/823s ❌@823
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 114688 |
|
||
-------------------------------
|
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-----------------------------------------
|
||
| time/ | |
|
||
| fps | 39 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 103 |
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| total_timesteps | 116736 |
|
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| train/ | |
|
||
| approx_kl | 0.022497533 |
|
||
| clip_fraction | 0.31 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.12 |
|
||
| explained_variance | 0.812 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.347 |
|
||
| n_updates | 560 |
|
||
| policy_gradient_loss | -0.0121 |
|
||
| std | 1.16 |
|
||
| value_loss | 1.31 |
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||
-----------------------------------------
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----------------------------------------
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 174 |
|
||
| total_timesteps | 118784 |
|
||
| train/ | |
|
||
| approx_kl | 0.04331164 |
|
||
| clip_fraction | 0.343 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.13 |
|
||
| explained_variance | 0.603 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 3.45 |
|
||
| n_updates | 570 |
|
||
| policy_gradient_loss | -0.0071 |
|
||
| std | 1.17 |
|
||
| value_loss | 3.27 |
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||
----------------------------------------
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----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 239 |
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||
| total_timesteps | 120832 |
|
||
| train/ | |
|
||
| approx_kl | 0.06629866 |
|
||
| clip_fraction | 0.358 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.14 |
|
||
| explained_variance | 0.731 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.298 |
|
||
| n_updates | 580 |
|
||
| policy_gradient_loss | -0.00309 |
|
||
| std | 1.17 |
|
||
| value_loss | 1.43 |
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||
----------------------------------------
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----------------------------------------
|
||
| time/ | |
|
||
| fps | 33 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 304 |
|
||
| total_timesteps | 122880 |
|
||
| train/ | |
|
||
| approx_kl | 0.05148594 |
|
||
| clip_fraction | 0.378 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.14 |
|
||
| explained_variance | 0.289 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.4 |
|
||
| n_updates | 590 |
|
||
| policy_gradient_loss | -0.00705 |
|
||
| std | 1.17 |
|
||
| value_loss | 5.39 |
|
||
----------------------------------------
|
||
INFO:exp23:[17:25:04] [120,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0120000.zip
|
||
INFO:exp23:[17:25:08] Eval: gen_road=27.4r/107s ❌@107
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 124928 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 107 |
|
||
| total_timesteps | 126976 |
|
||
| train/ | |
|
||
| approx_kl | 0.032537233 |
|
||
| clip_fraction | 0.395 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.17 |
|
||
| explained_variance | 0.693 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.432 |
|
||
| n_updates | 610 |
|
||
| policy_gradient_loss | -0.00625 |
|
||
| std | 1.19 |
|
||
| value_loss | 0.953 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 172 |
|
||
| total_timesteps | 129024 |
|
||
| train/ | |
|
||
| approx_kl | 0.06681977 |
|
||
| clip_fraction | 0.363 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.18 |
|
||
| explained_variance | 0.135 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.782 |
|
||
| n_updates | 620 |
|
||
| policy_gradient_loss | -0.00293 |
|
||
| std | 1.2 |
|
||
| value_loss | 6.05 |
|
||
----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 240 |
|
||
| total_timesteps | 131072 |
|
||
| train/ | |
|
||
| approx_kl | 0.044004865 |
|
||
| clip_fraction | 0.36 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.2 |
|
||
| explained_variance | 0.352 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 2.19 |
|
||
| n_updates | 630 |
|
||
| policy_gradient_loss | -0.00463 |
|
||
| std | 1.22 |
|
||
| value_loss | 4.66 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 33 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 304 |
|
||
| total_timesteps | 133120 |
|
||
| train/ | |
|
||
| approx_kl | 0.06260415 |
|
||
| clip_fraction | 0.405 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.22 |
|
||
| explained_variance | 0.164 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.2 |
|
||
| n_updates | 640 |
|
||
| policy_gradient_loss | -0.00158 |
|
||
| std | 1.22 |
|
||
| value_loss | 1.97 |
|
||
----------------------------------------
|
||
INFO:exp23:[17:30:53] [130,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0130000.zip
|
||
INFO:exp23:[17:30:58] Eval: gen_road=49.5r/165s ❌@165
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 73 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 28 |
|
||
| total_timesteps | 135168 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 43 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 94 |
|
||
| total_timesteps | 137216 |
|
||
| train/ | |
|
||
| approx_kl | 0.049958713 |
|
||
| clip_fraction | 0.363 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.26 |
|
||
| explained_variance | 0.129 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 4.09 |
|
||
| n_updates | 660 |
|
||
| policy_gradient_loss | -0.000775 |
|
||
| std | 1.25 |
|
||
| value_loss | 3.86 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 159 |
|
||
| total_timesteps | 139264 |
|
||
| train/ | |
|
||
| approx_kl | 0.045727327 |
|
||
| clip_fraction | 0.344 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.26 |
|
||
| explained_variance | 0.273 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 2.35 |
|
||
| n_updates | 670 |
|
||
| policy_gradient_loss | 0.00478 |
|
||
| std | 1.25 |
|
||
| value_loss | 11.4 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 222 |
|
||
| total_timesteps | 141312 |
|
||
| train/ | |
|
||
| approx_kl | 0.041530177 |
|
||
| clip_fraction | 0.37 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.26 |
|
||
| explained_variance | 0.243 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 1.47 |
|
||
| n_updates | 680 |
|
||
| policy_gradient_loss | -0.00742 |
|
||
| std | 1.24 |
|
||
| value_loss | 4.23 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 288 |
|
||
| total_timesteps | 143360 |
|
||
| train/ | |
|
||
| approx_kl | 0.04864549 |
|
||
| clip_fraction | 0.383 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.25 |
|
||
| explained_variance | 0.485 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.319 |
|
||
| n_updates | 690 |
|
||
| policy_gradient_loss | -0.00376 |
|
||
| std | 1.24 |
|
||
| value_loss | 1.21 |
|
||
----------------------------------------
|
||
INFO:exp23:[17:36:25] [140,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0140000.zip
|
||
INFO:exp23:[17:36:46] Eval: gen_road=466.1r/1496s ❌@1496
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 73 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 27 |
|
||
| total_timesteps | 145408 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 44 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 92 |
|
||
| total_timesteps | 147456 |
|
||
| train/ | |
|
||
| approx_kl | 0.057353795 |
|
||
| clip_fraction | 0.38 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.26 |
|
||
| explained_variance | 0.616 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.264 |
|
||
| n_updates | 710 |
|
||
| policy_gradient_loss | -0.00505 |
|
||
| std | 1.26 |
|
||
| value_loss | 2.85 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 165 |
|
||
| total_timesteps | 149504 |
|
||
| train/ | |
|
||
| approx_kl | 0.041733697 |
|
||
| clip_fraction | 0.38 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.28 |
|
||
| explained_variance | 0.76 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.291 |
|
||
| n_updates | 720 |
|
||
| policy_gradient_loss | -0.000579 |
|
||
| std | 1.26 |
|
||
| value_loss | 1.58 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 239 |
|
||
| total_timesteps | 151552 |
|
||
| train/ | |
|
||
| approx_kl | 0.036947723 |
|
||
| clip_fraction | 0.381 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.29 |
|
||
| explained_variance | 0.721 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.259 |
|
||
| n_updates | 730 |
|
||
| policy_gradient_loss | 0.00236 |
|
||
| std | 1.27 |
|
||
| value_loss | 1.99 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 33 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 306 |
|
||
| total_timesteps | 153600 |
|
||
| train/ | |
|
||
| approx_kl | 0.022321431 |
|
||
| clip_fraction | 0.325 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.3 |
|
||
| explained_variance | 0.754 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.217 |
|
||
| n_updates | 740 |
|
||
| policy_gradient_loss | -0.00604 |
|
||
| std | 1.28 |
|
||
| value_loss | 1.85 |
|
||
-----------------------------------------
|
||
INFO:exp23:[17:42:29] [150,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0150000.zip
|
||
INFO:exp23:[17:42:45] Eval: gen_road=361.8r/1104s ❌@1104
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 75 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 27 |
|
||
| total_timesteps | 155648 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 108 |
|
||
| total_timesteps | 157696 |
|
||
| train/ | |
|
||
| approx_kl | 0.044686228 |
|
||
| clip_fraction | 0.365 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.33 |
|
||
| explained_variance | 0.705 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.196 |
|
||
| n_updates | 760 |
|
||
| policy_gradient_loss | -0.0126 |
|
||
| std | 1.29 |
|
||
| value_loss | 1.28 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 179 |
|
||
| total_timesteps | 159744 |
|
||
| train/ | |
|
||
| approx_kl | 0.055111866 |
|
||
| clip_fraction | 0.366 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.33 |
|
||
| explained_variance | 0.619 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.603 |
|
||
| n_updates | 770 |
|
||
| policy_gradient_loss | 0.000912 |
|
||
| std | 1.29 |
|
||
| value_loss | 3.45 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 33 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 244 |
|
||
| total_timesteps | 161792 |
|
||
| train/ | |
|
||
| approx_kl | 0.058212373 |
|
||
| clip_fraction | 0.384 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.33 |
|
||
| explained_variance | 0.789 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.187 |
|
||
| n_updates | 780 |
|
||
| policy_gradient_loss | -0.00413 |
|
||
| std | 1.29 |
|
||
| value_loss | 1.37 |
|
||
-----------------------------------------
|
||
---------------------------------------
|
||
| time/ | |
|
||
| fps | 33 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 305 |
|
||
| total_timesteps | 163840 |
|
||
| train/ | |
|
||
| approx_kl | 0.0781488 |
|
||
| clip_fraction | 0.384 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.33 |
|
||
| explained_variance | 0.378 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 2.8 |
|
||
| n_updates | 790 |
|
||
| policy_gradient_loss | -0.00318 |
|
||
| std | 1.3 |
|
||
| value_loss | 4.7 |
|
||
---------------------------------------
|
||
INFO:exp23:[17:48:24] [160,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0160000.zip
|
||
INFO:exp23:[17:48:27] Eval: gen_road=29.7r/105s ❌@105
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 67 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 30 |
|
||
| total_timesteps | 165888 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 41 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 99 |
|
||
| total_timesteps | 167936 |
|
||
| train/ | |
|
||
| approx_kl | 0.105973095 |
|
||
| clip_fraction | 0.426 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.37 |
|
||
| explained_variance | 0.472 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 2.6 |
|
||
| n_updates | 810 |
|
||
| policy_gradient_loss | 0.00471 |
|
||
| std | 1.33 |
|
||
| value_loss | 6.32 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 162 |
|
||
| total_timesteps | 169984 |
|
||
| train/ | |
|
||
| approx_kl | 0.07749827 |
|
||
| clip_fraction | 0.43 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.39 |
|
||
| explained_variance | 0.363 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.975 |
|
||
| n_updates | 820 |
|
||
| policy_gradient_loss | 0.00222 |
|
||
| std | 1.34 |
|
||
| value_loss | 8.92 |
|
||
----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 226 |
|
||
| total_timesteps | 172032 |
|
||
| train/ | |
|
||
| approx_kl | 0.05261411 |
|
||
| clip_fraction | 0.376 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.41 |
|
||
| explained_variance | 0.282 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 3.72 |
|
||
| n_updates | 830 |
|
||
| policy_gradient_loss | -0.0017 |
|
||
| std | 1.35 |
|
||
| value_loss | 7.82 |
|
||
----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 292 |
|
||
| total_timesteps | 174080 |
|
||
| train/ | |
|
||
| approx_kl | 0.059629906 |
|
||
| clip_fraction | 0.4 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.43 |
|
||
| explained_variance | 0.389 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 4.8 |
|
||
| n_updates | 840 |
|
||
| policy_gradient_loss | -0.00594 |
|
||
| std | 1.37 |
|
||
| value_loss | 7.4 |
|
||
-----------------------------------------
|
||
INFO:exp23:[17:53:58] [170,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0170000.zip
|
||
INFO:exp23:[17:54:15] Eval: gen_road=364.8r/1129s ❌@1129
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 75 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 27 |
|
||
| total_timesteps | 176128 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 43 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 94 |
|
||
| total_timesteps | 178176 |
|
||
| train/ | |
|
||
| approx_kl | 0.052496605 |
|
||
| clip_fraction | 0.403 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.48 |
|
||
| explained_variance | 0.772 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.0482 |
|
||
| n_updates | 860 |
|
||
| policy_gradient_loss | -0.00453 |
|
||
| std | 1.4 |
|
||
| value_loss | 0.785 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 161 |
|
||
| total_timesteps | 180224 |
|
||
| train/ | |
|
||
| approx_kl | 0.053490236 |
|
||
| clip_fraction | 0.396 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.49 |
|
||
| explained_variance | 0.371 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 2.18 |
|
||
| n_updates | 870 |
|
||
| policy_gradient_loss | -0.00656 |
|
||
| std | 1.41 |
|
||
| value_loss | 4.69 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 228 |
|
||
| total_timesteps | 182272 |
|
||
| train/ | |
|
||
| approx_kl | 0.046204574 |
|
||
| clip_fraction | 0.416 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.5 |
|
||
| explained_variance | 0.484 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 2.56 |
|
||
| n_updates | 880 |
|
||
| policy_gradient_loss | -0.00268 |
|
||
| std | 1.41 |
|
||
| value_loss | 3.26 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 34 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 293 |
|
||
| total_timesteps | 184320 |
|
||
| train/ | |
|
||
| approx_kl | 0.05884172 |
|
||
| clip_fraction | 0.365 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.52 |
|
||
| explained_variance | 0.305 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.759 |
|
||
| n_updates | 890 |
|
||
| policy_gradient_loss | -0.0112 |
|
||
| std | 1.42 |
|
||
| value_loss | 4.66 |
|
||
----------------------------------------
|
||
INFO:exp23:[17:59:46] [180,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0180000.zip
|
||
INFO:exp23:[18:00:07] Eval: gen_road=452.4r/1503s ❌@1503
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 186368 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 44 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 92 |
|
||
| total_timesteps | 188416 |
|
||
| train/ | |
|
||
| approx_kl | 0.031784095 |
|
||
| clip_fraction | 0.329 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.56 |
|
||
| explained_variance | 0.761 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.162 |
|
||
| n_updates | 910 |
|
||
| policy_gradient_loss | -0.0117 |
|
||
| std | 1.46 |
|
||
| value_loss | 0.771 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 39 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 155 |
|
||
| total_timesteps | 190464 |
|
||
| train/ | |
|
||
| approx_kl | 0.04083346 |
|
||
| clip_fraction | 0.37 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.58 |
|
||
| explained_variance | 0.8 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.0687 |
|
||
| n_updates | 920 |
|
||
| policy_gradient_loss | -0.00859 |
|
||
| std | 1.47 |
|
||
| value_loss | 1.26 |
|
||
----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 217 |
|
||
| total_timesteps | 192512 |
|
||
| train/ | |
|
||
| approx_kl | 0.038500346 |
|
||
| clip_fraction | 0.315 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.59 |
|
||
| explained_variance | 0.85 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.633 |
|
||
| n_updates | 930 |
|
||
| policy_gradient_loss | -0.00934 |
|
||
| std | 1.49 |
|
||
| value_loss | 1.29 |
|
||
-----------------------------------------
|
||
----------------------------------------
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 280 |
|
||
| total_timesteps | 194560 |
|
||
| train/ | |
|
||
| approx_kl | 0.06231237 |
|
||
| clip_fraction | 0.387 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.61 |
|
||
| explained_variance | 0.156 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.403 |
|
||
| n_updates | 940 |
|
||
| policy_gradient_loss | -0.00441 |
|
||
| std | 1.49 |
|
||
| value_loss | 2.07 |
|
||
----------------------------------------
|
||
INFO:exp23:[18:05:25] [190,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0190000.zip
|
||
INFO:exp23:[18:05:49] Eval: gen_road=466.0r/1684s ❌@1684
|
||
-------------------------------
|
||
| time/ | |
|
||
| fps | 76 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 26 |
|
||
| total_timesteps | 196608 |
|
||
-------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 43 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 93 |
|
||
| total_timesteps | 198656 |
|
||
| train/ | |
|
||
| approx_kl | 0.068352714 |
|
||
| clip_fraction | 0.406 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.62 |
|
||
| explained_variance | 0.165 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.609 |
|
||
| n_updates | 960 |
|
||
| policy_gradient_loss | -0.00677 |
|
||
| std | 1.51 |
|
||
| value_loss | 2.48 |
|
||
-----------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 158 |
|
||
| total_timesteps | 200704 |
|
||
| train/ | |
|
||
| approx_kl | 0.054212958 |
|
||
| clip_fraction | 0.389 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.64 |
|
||
| explained_variance | 0.232 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.221 |
|
||
| n_updates | 970 |
|
||
| policy_gradient_loss | -0.0117 |
|
||
| std | 1.51 |
|
||
| value_loss | 1.84 |
|
||
-----------------------------------------
|
||
---------------------------------------
|
||
| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 4 |
|
||
| time_elapsed | 218 |
|
||
| total_timesteps | 202752 |
|
||
| train/ | |
|
||
| approx_kl | 0.0474802 |
|
||
| clip_fraction | 0.375 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.62 |
|
||
| explained_variance | 0.292 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.236 |
|
||
| n_updates | 980 |
|
||
| policy_gradient_loss | -0.00871 |
|
||
| std | 1.49 |
|
||
| value_loss | 1.7 |
|
||
---------------------------------------
|
||
-----------------------------------------
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 5 |
|
||
| time_elapsed | 280 |
|
||
| total_timesteps | 204800 |
|
||
| train/ | |
|
||
| approx_kl | 0.045135833 |
|
||
| clip_fraction | 0.402 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -3.62 |
|
||
| explained_variance | 0.566 |
|
||
| learning_rate | 0.0003 |
|
||
| loss | 0.0875 |
|
||
| n_updates | 990 |
|
||
| policy_gradient_loss | -0.00507 |
|
||
| std | 1.5 |
|
||
| value_loss | 0.959 |
|
||
-----------------------------------------
|
||
INFO:exp23:[18:11:02] [200,000/200,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/checkpoint_0200000.zip
|
||
INFO:exp23:[18:11:14] Eval: gen_road=248.2r/795s ❌@795
|
||
INFO:exp23:[18:11:14] ============================================================
|
||
INFO:exp23:[18:11:14] FINAL EVALUATION: best_model on generated_road
|
||
INFO:exp23:[18:11:14] ============================================================
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: [33mWARN: Box low's precision lowered by casting to float32, current low.dtype=float64[0m
|
||
gym.logger.warn(
|
||
/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: [33mWARN: Box high's precision lowered by casting to float32, current high.dtype=float64[0m
|
||
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!
|
||
INFO:exp23:[18:11:42] Set 1: 409.9r / 2000s ✅
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
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!
|
||
INFO:exp23:[18:12:09] Set 2: 407.9r / 2000s ✅
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
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!
|
||
INFO:exp23:[18:12:36] Set 3: 407.9r / 2000s ✅
|
||
INFO:exp23:[18:12:36] Mean: 2000 steps / 408.6 reward
|
||
INFO:exp23:[18:12:36] Exp 23 complete.
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|