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/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.
[22:30:28] ============================================================
[22:30:28] Exp 28: gentrack fine-tune from exp26 best_model
[22:30:28] Sim: localhost:9091 -> donkey-generated-track-v0
[22:30:28] Warm model: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp26-warmstart/best_model.zip
[22:30:28] Discrete: 7 steer bins, throttle fixed at 0.2 (N_THROTTLE=1, matches exp26)
[22:30:28] LR=5e-05, total=50,000, checkpoint every 5,000
[22:30:28] After training: zero-shot eval on donkey-minimonaco-track-v0
[22:30:28] ============================================================
[22:30:28] 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: steer_limit 1.0
Setting default: throttle_min 0.0
Setting default: throttle_max 1.0
[22:30:28] obs=(3, 120, 160), action=Discrete(7)
[22:30:28] Loading warm-start model from exp26...
[22:30:31] Warm model loaded. LR=5e-05
[22:30:31] ============================================================
[22:30:31] Exp 28 started — PID 1253164
[22:30:31] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp28-gentrack-finetune/run_2026-05-06_223031_gentrack_finetune.log
[22:30:31] Warm start: exp26 best_model
[22:30:31] Track: donkey-generated-track-v0 | N_STEER=7, N_THROTTLE=1
[22:30:31] ============================================================
-------------------------------
| time/ | |
| fps | 32 |
| iterations | 1 |
| time_elapsed | 62 |
| total_timesteps | 104448 |
-------------------------------
----------------------------------------
| time/ | |
| fps | 25 |
| iterations | 2 |
| time_elapsed | 161 |
| total_timesteps | 106496 |
| train/ | |
| approx_kl | 0.20152093 |
| clip_fraction | 0.667 |
| clip_range | 0.2 |
| entropy_loss | -1.25 |
| explained_variance | -0.213 |
| learning_rate | 0.0003 |
| loss | -0.0586 |
| n_updates | 510 |
| policy_gradient_loss | -0.06 |
| value_loss | 0.976 |
----------------------------------------
/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.
[22:36:00] ============================================================
[22:36:00] Exp 28: gentrack fine-tune from exp26 best_model
[22:36:00] Sim: localhost:9091 -> donkey-generated-track-v0
[22:36:00] Warm model: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp26-warmstart/best_model.zip
[22:36:00] Discrete: 7 steer bins, throttle fixed at 0.2 (N_THROTTLE=1, matches exp26)
[22:36:00] LR=5e-05, total=50,000, checkpoint every 5,000
[22:36:00] After training: zero-shot eval on donkey-minimonaco-track-v0
[22:36:00] ============================================================
[22:36:00] 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(
WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
INFO:gym_donkeycar.envs.donkey_sim:on need car config
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
INFO:gym_donkeycar.envs.donkey_sim:sim started!
starting DonkeyGym env
Setting default: start_delay 5.0
Setting default: max_cte 8.0
Setting default: frame_skip 1
Setting default: cam_resolution (120, 160, 3)
Setting default: log_level 20
Setting default: steer_limit 1.0
Setting default: throttle_min 0.0
Setting default: throttle_max 1.0
loading scene generated_track
[22:36:01] obs=(3, 120, 160), action=Discrete(7)
[22:36:01] Loading warm-start model from exp26...
[22:36:04] Warm model loaded. LR=5e-05
[22:36:04] ============================================================
[22:36:04] Exp 28 started — PID 1255212
[22:36:04] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp28-gentrack-finetune/run_2026-05-06_223604_gentrack_finetune.log
[22:36:04] Warm start: exp26 best_model
[22:36:04] Track: donkey-generated-track-v0 | N_STEER=7, N_THROTTLE=1
[22:36:04] ============================================================
-------------------------------
| time/ | |
| fps | 22 |
| iterations | 1 |
| time_elapsed | 89 |
| total_timesteps | 104448 |
-------------------------------
----------------------------------------
| time/ | |
| fps | 19 |
| iterations | 2 |
| time_elapsed | 207 |
| total_timesteps | 106496 |
| train/ | |
| approx_kl | 0.06974949 |
| clip_fraction | 0.601 |
| clip_range | 0.2 |
| entropy_loss | -1.61 |
| explained_variance | 0.498 |
| learning_rate | 0.0003 |
| loss | -0.0639 |
| n_updates | 510 |
| policy_gradient_loss | -0.0535 |
| value_loss | 0.783 |
----------------------------------------
/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.
[22:41:14] ============================================================
[22:41:14] Exp 28: gentrack fine-tune from exp26 best_model
[22:41:14] Sim: localhost:9091 -> donkey-generated-track-v0
[22:41:14] Warm model: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp26-warmstart/best_model.zip
[22:41:14] Discrete: 7 steer bins, throttle fixed at 0.2 (N_THROTTLE=1, matches exp26)
[22:41:14] LR=5e-05, total=50,000, checkpoint every 5,000
[22:41:14] After training: zero-shot eval on donkey-minimonaco-track-v0
[22:41:14] ============================================================
[22:41:14] 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: steer_limit 1.0
Setting default: throttle_min 0.0
Setting default: throttle_max 1.0
[22:41:14] obs=(3, 120, 160), action=Discrete(7)
[22:41:14] Loading warm-start model from exp26...
[22:41:17] Warm model loaded. LR=5e-05
[22:41:17] ============================================================
[22:41:17] Exp 28 started — PID 1257109
[22:41:17] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp28-gentrack-finetune/run_2026-05-06_224117_gentrack_finetune.log
[22:41:17] Warm start: exp26 best_model
[22:41:17] Track: donkey-generated-track-v0 | N_STEER=7, N_THROTTLE=1
[22:41:17] ============================================================
/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.
[22:42:17] ============================================================
[22:42:17] Exp 28: gentrack fine-tune from exp26 best_model
[22:42:17] Sim: localhost:9091 -> donkey-generated-track-v0
[22:42:17] Warm model: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp26-warmstart/best_model.zip
[22:42:17] Discrete: 7 steer bins, throttle fixed at 0.2 (N_THROTTLE=1, matches exp26)
[22:42:17] LR=5e-05, total=50,000, checkpoint every 5,000
[22:42:17] After training: zero-shot eval on donkey-minimonaco-track-v0
[22:42:17] ============================================================
[22:42:17] 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: steer_limit 1.0
Setting default: throttle_min 0.0
Setting default: throttle_max 1.0
[22:42:17] obs=(3, 120, 160), action=Discrete(7)
[22:42:17] Loading warm-start model from exp26...
/home/paulh/.local/lib/python3.10/site-packages/stable_baselines3/common/utils.py:166: UserWarning: get_schedule_fn() is deprecated, please use FloatSchedule() instead
warnings.warn("get_schedule_fn() is deprecated, please use FloatSchedule() instead")
/home/paulh/.local/lib/python3.10/site-packages/stable_baselines3/common/utils.py:212: UserWarning: constant_fn() is deprecated, please use ConstantSchedule() instead
warnings.warn("constant_fn() is deprecated, please use ConstantSchedule() instead")
[22:42:20] Warm model loaded. LR=5e-05
[22:42:20] ============================================================
[22:42:20] Exp 28 started — PID 1257693
[22:42:20] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp28-gentrack-finetune/run_2026-05-06_224220_gentrack_finetune.log
[22:42:20] Warm start: exp26 best_model
[22:42:20] Track: donkey-generated-track-v0 | N_STEER=7, N_THROTTLE=1
[22:42:20] ============================================================
-------------------------------
| time/ | |
| fps | 22 |
| iterations | 1 |
| time_elapsed | 89 |
| total_timesteps | 104448 |
-------------------------------
-----------------------------------------
| time/ | |
| fps | 19 |
| iterations | 2 |
| time_elapsed | 211 |
| total_timesteps | 106496 |
| train/ | |
| approx_kl | 0.029336687 |
| clip_fraction | 0.362 |
| clip_range | 0.2 |
| entropy_loss | -1.6 |
| explained_variance | 0.491 |
| learning_rate | 5e-05 |
| loss | -0.0262 |
| n_updates | 510 |
| policy_gradient_loss | -0.0392 |
| value_loss | 1.27 |
-----------------------------------------
----------------------------------------
| time/ | |
| fps | 18 |
| iterations | 3 |
| time_elapsed | 340 |
| total_timesteps | 108544 |
| train/ | |
| approx_kl | 0.05141571 |
| clip_fraction | 0.325 |
| clip_range | 0.2 |
| entropy_loss | -1.64 |
| explained_variance | 0.781 |
| learning_rate | 5e-05 |
| loss | -0.0859 |
| n_updates | 520 |
| policy_gradient_loss | -0.0611 |
| value_loss | 0.519 |
----------------------------------------
[22:48:39] [5,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp28-gentrack-finetune/checkpoint_0005000.zip
[22:48:39] Reconnecting for fresh track...
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: steer_limit 1.0
Setting default: throttle_min 0.0
Setting default: throttle_max 1.0
[22:48:44] Connected (new track layout)
[22:48:47] Eval: gentrack=0.5r/41s ❌@41
[22:48:47] NEW BEST: steps=41 reward=0.5
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