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 19:58:56 2026
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[SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 19:58:56 2026
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[SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 19:58:57 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.32608010951990435 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.8302534278905137 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.1230142275158306 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.0248228501508583 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.521882068657528 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.0531653021772314 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Step 70 done=False reward=0.8178603458445483 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Step 75 done=True reward=-1.0 Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Episode 1 ended after 75 steps at Sun Apr 12 19:58:58 2026
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[SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.38533445717021675 Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.7649677026200243 Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 30 done=False reward=0.7731092943849598 Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 40 done=False reward=0.6308025746064175 Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.6634409278232422 Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.2806292948299258 Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 70 done=False reward=1.7098584306152653 Sun Apr 12 19:59:00 2026
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[SB3 Runner][TEST] Step 80 done=False reward=1.771212316366094 Sun Apr 12 19:59:01 2026
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[SB3 Runner][TEST] Step 90 done=False reward=0.3816500226473798 Sun Apr 12 19:59:01 2026
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[SB3 Runner][TEST] Step 92 done=True reward=-1.0 Sun Apr 12 19:59:01 2026
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[SB3 Runner][TEST] Episode 2 ended after 92 steps at Sun Apr 12 19:59:01 2026
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[SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 19:59:02 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.7621313146618053 Sun Apr 12 19:59:02 2026
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[SB3 Runner][TEST] Step 20 done=False reward=1.3337031082716766 Sun Apr 12 19:59:02 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.5420516759777596 Sun Apr 12 19:59:02 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.3035605945127502 Sun Apr 12 19:59:02 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.9745527926964705 Sun Apr 12 19:59:03 2026
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[SB3 Runner][TEST] Step 60 done=False reward=0.9356667483054228 Sun Apr 12 19:59:03 2026
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[SB3 Runner][TEST] Step 70 done=False reward=0.27197154201078466 Sun Apr 12 19:59:03 2026
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[SB3 Runner][TEST] Step 80 done=False reward=0.7830663107438873 Sun Apr 12 19:59:03 2026
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[SB3 Runner][TEST] Step 90 done=False reward=2.0101459251375675 Sun Apr 12 19:59:03 2026
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[SB3 Runner][TEST] Step 98 done=True reward=-1.0 Sun Apr 12 19:59:03 2026
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[SB3 Runner][TEST] Episode 3 ended after 98 steps at Sun Apr 12 19:59:03 2026
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[SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 19:59:04 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.5426217920848124 Sun Apr 12 19:59:04 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.630862758486649 Sun Apr 12 19:59:05 2026
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[SB3 Runner][TEST] Step 30 done=False reward=0.9734468451726926 Sun Apr 12 19:59:05 2026
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[SB3 Runner][TEST] Step 40 done=False reward=0.7491807114485405 Sun Apr 12 19:59:05 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.5569107882641746 Sun Apr 12 19:59:05 2026
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[SB3 Runner][TEST] Step 60 done=False reward=0.1391929616440028 Sun Apr 12 19:59:05 2026
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[SB3 Runner][TEST] Step 65 done=True reward=-1.0 Sun Apr 12 19:59:05 2026
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[SB3 Runner][TEST] Episode 4 ended after 65 steps at Sun Apr 12 19:59:05 2026
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[SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 19:59:06 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.4077573971715652 Sun Apr 12 19:59:06 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.8898746609040286 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Step 30 done=False reward=0.9553023372336991 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.1564543316998053 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.568387571635518 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.842262229241626 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Step 70 done=False reward=1.9539970875268022 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Step 80 done=False reward=0.8666653564753383 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Step 87 done=True reward=-1.0 Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Episode 5 ended after 87 steps at Sun Apr 12 19:59:07 2026
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[SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.5719979027693585 Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.9548205527433758 Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.4003965152433093 Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.711094098490514 Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.9404293776997519 Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Step 58 done=True reward=-1.0 Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Episode 6 ended after 58 steps at Sun Apr 12 19:59:09 2026
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[SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.4773028250089446 Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Step 20 done=False reward=1.0090479448898033 Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.098327056487593 Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Step 40 done=False reward=0.6078077052474644 Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.3092639411947555 Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Step 58 done=True reward=-1.0 Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Episode 7 ended after 58 steps at Sun Apr 12 19:59:11 2026
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[SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 19:59:12 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.24840719907692227 Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.5669613457895365 Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Step 30 done=False reward=0.8472608457181932 Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.1531690791524396 Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.4755086312736243 Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.56438365238439 Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Episode 8 ended after 70 steps at Sun Apr 12 19:59:13 2026
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[SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 19:59:14 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.42561286671869425 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.9136248593862019 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 30 done=False reward=1.3251450788926085 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.5581253706388647 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 50 done=False reward=1.7696660805611566 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 60 done=False reward=1.0776998680022811 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 70 done=False reward=1.0183447506183294 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 80 done=False reward=1.559360266695449 Sun Apr 12 19:59:15 2026
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[SB3 Runner][TEST] Step 90 done=False reward=1.751976485650535 Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Step 100 done=False reward=2.160529440411731 Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Step 110 done=False reward=2.1521649675111094 Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Step 120 done=False reward=1.4079349152930458 Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Step 130 done=False reward=0.5146867028981775 Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Step 140 done=False reward=0.14714268124567526 Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Step 149 done=True reward=-1.0 Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Episode 9 ended after 149 steps at Sun Apr 12 19:59:16 2026
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[SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 10 done=False reward=0.3237753708118084 Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 20 done=False reward=0.646603078485757 Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 30 done=False reward=0.6509858820811697 Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 40 done=False reward=1.0720566540085446 Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 50 done=False reward=0.8535064361907827 Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 60 done=False reward=0.9670087837469651 Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 70 done=False reward=1.227633868276993 Sun Apr 12 19:59:18 2026
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[SB3 Runner][TEST] Step 80 done=False reward=1.760075337058753 Sun Apr 12 19:59:19 2026
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[SB3 Runner][TEST] Step 90 done=False reward=1.1524909109580677 Sun Apr 12 19:59:19 2026
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[SB3 Runner][TEST] Step 95 done=True reward=-1.0 Sun Apr 12 19:59:19 2026
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[SB3 Runner][TEST] Episode 10 ended after 95 steps at Sun Apr 12 19:59:19 2026
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[SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 19:59:19 2026
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[SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 19:59:19 2026
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[SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 19:59:19 2026
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[SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 19:59:21 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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