147 lines
12 KiB
Plaintext
147 lines
12 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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[SB3 Runner] Starting: Connecting to sim…
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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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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: host localhost
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Setting default: port 9091
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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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[SB3 Runner][MONITOR] Connected to gym env. Sun Apr 12 19:57:29 2026
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[SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 19:57:29 2026
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[SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 19:57:30 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.65973622115377 Sun Apr 12 19:57:30 2026
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[SB3 Runner][TEST] Step 20 done=False reward=1.1884950808425598 Sun Apr 12 19:57:30 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.030493603105293 Sun Apr 12 19:57:30 2026
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[SB3 Runner][TEST] Step 40 done=False reward=0.6701775521027226 Sun Apr 12 19:57:31 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.3537362271643043 Sun Apr 12 19:57:31 2026
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[SB3 Runner][TEST] Step 60 done=False reward=2.071823537152857 Sun Apr 12 19:57:31 2026
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[SB3 Runner][TEST] Step 70 done=False reward=1.1412107556301043 Sun Apr 12 19:57:31 2026
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[SB3 Runner][TEST] Step 80 done=False reward=0.531400429582428 Sun Apr 12 19:57:31 2026
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[SB3 Runner][TEST] Step 85 done=True reward=-1.0 Sun Apr 12 19:57:31 2026
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[SB3 Runner][TEST] Episode 1 ended after 85 steps at Sun Apr 12 19:57:31 2026
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[SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 19:57:32 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.3517642298537958 Sun Apr 12 19:57:32 2026
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[SB3 Runner][TEST] Step 20 done=False reward=1.10426805722474 Sun Apr 12 19:57:33 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.2677094612911042 Sun Apr 12 19:57:33 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.1125143241312831 Sun Apr 12 19:57:33 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.2738277273340333 Sun Apr 12 19:57:33 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.73868911522483 Sun Apr 12 19:57:33 2026
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[SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 19:57:33 2026
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[SB3 Runner][TEST] Episode 2 ended after 70 steps at Sun Apr 12 19:57:33 2026
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[SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 19:57:34 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.5512915623663074 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.9969566648206756 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.4076765903229824 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.610577303121507 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.7215608221699135 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 60 done=False reward=0.37001288481944394 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 70 done=False reward=0.6636441369443967 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 80 done=False reward=1.5281542085163107 Sun Apr 12 19:57:35 2026
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[SB3 Runner][TEST] Step 90 done=False reward=1.5192939765888214 Sun Apr 12 19:57:36 2026
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[SB3 Runner][TEST] Step 96 done=True reward=-1.0 Sun Apr 12 19:57:36 2026
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[SB3 Runner][TEST] Episode 3 ended after 96 steps at Sun Apr 12 19:57:36 2026
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[SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 19:57:37 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.37108938866914676 Sun Apr 12 19:57:37 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.7009612471299641 Sun Apr 12 19:57:37 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.026097655316046 Sun Apr 12 19:57:37 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.1126686313594094 Sun Apr 12 19:57:37 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.4391326739177148 Sun Apr 12 19:57:37 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.9643492986693616 Sun Apr 12 19:57:38 2026
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[SB3 Runner][TEST] Step 70 done=False reward=2.457193009993115 Sun Apr 12 19:57:38 2026
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[SB3 Runner][TEST] Step 80 done=False reward=2.683375585003899 Sun Apr 12 19:57:38 2026
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[SB3 Runner][TEST] Step 90 done=False reward=2.25998582224052 Sun Apr 12 19:57:38 2026
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[SB3 Runner][TEST] Step 100 done=False reward=1.9117954410063445 Sun Apr 12 19:57:38 2026
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[SB3 Runner][TEST] Step 110 done=True reward=-1.0 Sun Apr 12 19:57:38 2026
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[SB3 Runner][TEST] Episode 4 ended after 110 steps at Sun Apr 12 19:57:38 2026
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[SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 19:57:39 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.45228128771287196 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.9079328685784457 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.279601721215537 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.553751360108707 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.2611143846889372 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.5730516208710905 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Step 70 done=False reward=0.0016544472972530836 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Step 71 done=True reward=-1.0 Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Episode 5 ended after 71 steps at Sun Apr 12 19:57:40 2026
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[SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 19:57:41 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.5122266471391291 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.7938577700491415 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.2431387325309327 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.45543744427726 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.6436637844747268 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 60 done=False reward=2.064149513858784 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 70 done=False reward=2.291397841179396 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 80 done=False reward=1.0851579410418273 Sun Apr 12 19:57:42 2026
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[SB3 Runner][TEST] Step 87 done=True reward=-1.0 Sun Apr 12 19:57:43 2026
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[SB3 Runner][TEST] Episode 6 ended after 87 steps at Sun Apr 12 19:57:43 2026
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[SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 19:57:44 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.38680656701677163 Sun Apr 12 19:57:44 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.7034535460586123 Sun Apr 12 19:57:44 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.3315501206352756 Sun Apr 12 19:57:44 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.4771865126987036 Sun Apr 12 19:57:44 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.3632186824763255 Sun Apr 12 19:57:44 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.7204163374379118 Sun Apr 12 19:57:45 2026
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[SB3 Runner][TEST] Step 70 done=False reward=2.1055227916296837 Sun Apr 12 19:57:45 2026
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[SB3 Runner][TEST] Step 80 done=False reward=1.8273720968584293 Sun Apr 12 19:57:45 2026
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[SB3 Runner][TEST] Step 90 done=False reward=2.0188919489994968 Sun Apr 12 19:57:45 2026
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[SB3 Runner][TEST] Step 99 done=True reward=-1.0 Sun Apr 12 19:57:45 2026
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[SB3 Runner][TEST] Episode 7 ended after 99 steps at Sun Apr 12 19:57:45 2026
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[SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 19:57:46 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.3180216078099282 Sun Apr 12 19:57:46 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.7682414740047867 Sun Apr 12 19:57:46 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.0876100763968364 Sun Apr 12 19:57:47 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.2179832309108884 Sun Apr 12 19:57:47 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.4772832334512174 Sun Apr 12 19:57:47 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.7841821435362102 Sun Apr 12 19:57:47 2026
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[SB3 Runner][TEST] Step 70 done=False reward=1.6490377811686423 Sun Apr 12 19:57:47 2026
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[SB3 Runner][TEST] Step 79 done=True reward=-1.0 Sun Apr 12 19:57:47 2026
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[SB3 Runner][TEST] Episode 8 ended after 79 steps at Sun Apr 12 19:57:47 2026
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[SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 19:57:48 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.555979368458371 Sun Apr 12 19:57:49 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.8447797124538053 Sun Apr 12 19:57:49 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.1591942174480756 Sun Apr 12 19:57:49 2026
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[SB3 Runner][TEST] Step 40 done=False reward=0.3950196074073838 Sun Apr 12 19:57:49 2026
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[SB3 Runner][TEST] Step 44 done=True reward=-1.0 Sun Apr 12 19:57:49 2026
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[SB3 Runner][TEST] Episode 9 ended after 44 steps at Sun Apr 12 19:57:49 2026
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[SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 19:57:50 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.40446455734969455 Sun Apr 12 19:57:50 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.7352505822066754 Sun Apr 12 19:57:50 2026
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[SB3 Runner][TEST] Step 30 done=False reward=0.8919553775798454 Sun Apr 12 19:57:50 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.2376695046485453 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.4253300169766028 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.7847450930917248 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Step 70 done=False reward=1.4717171459781562 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Step 80 done=False reward=0.9325417774621616 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Step 90 done=False reward=0.6907797291211867 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Step 100 done=False reward=0.7093277217756156 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Step 110 done=True reward=-1.0 Sun Apr 12 19:57:51 2026
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[SB3 Runner][TEST] Episode 10 ended after 110 steps at Sun Apr 12 19:57:51 2026
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[SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 19:57:51 2026
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[SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 19:57:51 2026
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[SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 19:57:51 2026
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[SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 19:57:53 2026
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Traceback (most recent call last):
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File "/home/paulh/.pi/agent/donkeycar_sb3_runner.py", line 96, in <module>
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run_training(
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File "/home/paulh/.pi/agent/donkeycar_sb3_runner.py", line 80, in run_training
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mean_reward, std_reward = evaluate_policy(model, env, n_eval_episodes=eval_episodes, return_episode_rewards=False)
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NameError: name 'model' is not defined
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