From 0c3a37f877f8288f2deb276780d5a323c390331b Mon Sep 17 00:00:00 2001 From: Paul Huliganga Date: Sun, 19 Apr 2026 20:17:29 -0400 Subject: [PATCH] fix: close temporary loaded_env after loading warm-start model to avoid leaving extra TCP vehicle --- agent/experiments/exp14_finetune_v5.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/agent/experiments/exp14_finetune_v5.py b/agent/experiments/exp14_finetune_v5.py index 9a4bdce..655071a 100644 --- a/agent/experiments/exp14_finetune_v5.py +++ b/agent/experiments/exp14_finetune_v5.py @@ -180,6 +180,12 @@ if os.path.exists(WARM_PATH): first_throttle_floor = phase_defs[0][1] env0 = VecTransposeImage(DummyVecEnv([make_env_base(0.2, throttle_floor=first_throttle_floor)])) model.set_env(env0) + # Close the loaded_env used only for model loading to avoid leaving a stale + # TCP connection (which would create an extra vehicle in the simulator). + try: + loaded_env.close() + except Exception: + pass else: log('No warm-start found — creating fresh model with base throttle_min=0.2') env0 = VecTransposeImage(DummyVecEnv([make_env_base(0.2, throttle_floor=phase_defs[0][1])]))