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fix: LR override was not reaching the optimizer — all trials ran at 0.000225 

PPO.load() restores the saved optimizer state (lr=0.000225 from Phase 2
champion).  Setting model.learning_rate alone is insufficient because
_update_learning_rate() may not fire before the first gradient step, and
the optimizer's param_groups still hold the old value.

Fix: after PPO.load(), explicitly set lr on every optimizer param_group:
  model.learning_rate = lr
  for pg in model.policy.optimizer.param_groups:
      pg['lr'] = lr

Impact: all 8 previous Wave 3 trials actually trained at LR=0.000225
regardless of GP proposal.  Results archived as:
  autoresearch_results_phase3_CONTAMINATED_wrong_lr.jsonl
Phase 3 results cleared; autoresearch restarting from scratch.

Agent: pi
Tests: 83 passed
Tests-Added: 0
TypeScript: N/A
This commit is contained in:
Paul Huliganga 2026-04-14 20:37:48 -04:00
parent 2a747bb97c
commit 298cd1790a
5 changed files with 113 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
agent/multitrack_runner.py
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@ -202,9 +202,16 @@ def create_or_load_model(env, learning_rate, warm_start_path=None, seed=None):
log(f'[W3 Runner] Loading warm-start model from {warm_start_path}')
try:
model = PPO.load(warm_start_path, env=env, device='auto')
# Override learning rate — we may be exploring different LRs
# Override learning rate — set BOTH the SB3 attribute AND the
# optimizer param groups. PPO.load() restores the saved optimizer
# state (lr=0.000225 from Phase 2), so just setting model.learning_rate
# is not enough — the optimizer ignores it until _update_learning_rate
# is called, and even then only if it reads the attribute correctly.
model.learning_rate = learning_rate
log(f'[W3 Runner] ✅ Warm start loaded. LR overridden to {learning_rate:.6f}')
for pg in model.policy.optimizer.param_groups:
pg['lr'] = learning_rate
log(f'[W3 Runner] ✅ Warm start loaded. LR overridden to {learning_rate:.6f} '
f'(set on model + {len(model.policy.optimizer.param_groups)} optimizer param group(s))')
return model
except Exception as e:
log(f'[W3 Runner] ⚠️ Warm start failed ({e}), training from scratch.')

13
agent/outerloop-results/autoresearch_phase2_log.txt
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@ -554,3 +554,16 @@
[2026-04-14 13:47:13] [Champion] 🏆 NEW BEST! Trial 3: mean_reward=90.0000 params={'r': 90}
[2026-04-14 13:47:13] [Champion] 🏆 NEW BEST! Trial 5: mean_reward=75.0000 params={'n_steer': 8}
[2026-04-14 13:47:13] [AutoResearch] Only 1 results — using random proposal.
[2026-04-14 20:37:35] [AutoResearch] GP UCB top-5 candidates:
[2026-04-14 20:37:35] UCB=2.3107 mu=0.3981 sigma=0.9563 params={'n_steer': 9, 'n_throttle': 2, 'learning_rate': 0.001405531880392808, 'timesteps': 26173}
[2026-04-14 20:37:35] UCB=2.3049 mu=0.8602 sigma=0.7224 params={'n_steer': 9, 'n_throttle': 3, 'learning_rate': 0.001793493447174312, 'timesteps': 19198}
[2026-04-14 20:37:35] UCB=2.2813 mu=0.4904 sigma=0.8954 params={'n_steer': 9, 'n_throttle': 4, 'learning_rate': 0.0011616192816742616, 'timesteps': 13887}
[2026-04-14 20:37:35] UCB=2.2767 mu=0.5194 sigma=0.8787 params={'n_steer': 9, 'n_throttle': 4, 'learning_rate': 0.0011646447444663046, 'timesteps': 21199}
[2026-04-14 20:37:35] UCB=2.2525 mu=0.6254 sigma=0.8136 params={'n_steer': 9, 'n_throttle': 3, 'learning_rate': 0.0010196345864901517, 'timesteps': 22035}
[2026-04-14 20:37:35] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=50.0000 params={'n_steer': 5}
[2026-04-14 20:37:35] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=80.0000 params={'n_steer': 7}
[2026-04-14 20:37:35] [Champion] 🏆 NEW BEST! Trial 0: mean_reward=50.0000 params={'r': 50}
[2026-04-14 20:37:35] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=80.0000 params={'r': 80}
[2026-04-14 20:37:35] [Champion] 🏆 NEW BEST! Trial 3: mean_reward=90.0000 params={'r': 90}
[2026-04-14 20:37:35] [Champion] 🏆 NEW BEST! Trial 5: mean_reward=75.0000 params={'n_steer': 8}
[2026-04-14 20:37:35] [AutoResearch] Only 1 results — using random proposal.

83
agent/outerloop-results/autoresearch_phase3_log.txt
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@ -198,3 +198,86 @@
[2026-04-14 18:22:44] score=27.64 params={'learning_rate': 0.0004302041414294587, 'steps_per_switch': 6993, 'total_timesteps': 31040}
[2026-04-14 18:22:44] score=24.77 params={'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 18:22:44] score=14.61 params={'learning_rate': 0.000225, 'steps_per_switch': 10000, 'total_timesteps': 90000}
[2026-04-14 18:22:46] [Wave3] ✅ Git push complete after trial 5
[2026-04-14 18:22:48]
[Wave3] ========== Trial 6/25 ==========
[2026-04-14 18:22:48] [Wave3] GP UCB top-5 proposals:
[2026-04-14 18:22:48] UCB=3.0500 mu=1.6257 σ=0.7122 params={'learning_rate': 0.0009335007740897103, 'steps_per_switch': 10939, 'total_timesteps': 37842}
[2026-04-14 18:22:48] UCB=3.0271 mu=1.6319 σ=0.6976 params={'learning_rate': 0.0009018551117370809, 'steps_per_switch': 10744, 'total_timesteps': 44030}
[2026-04-14 18:22:48] UCB=3.0176 mu=1.5762 σ=0.7207 params={'learning_rate': 0.000895413146419593, 'steps_per_switch': 10921, 'total_timesteps': 44444}
[2026-04-14 18:22:48] UCB=3.0100 mu=1.7115 σ=0.6493 params={'learning_rate': 0.0009264384396182288, 'steps_per_switch': 9176, 'total_timesteps': 53393}
[2026-04-14 18:22:48] UCB=2.9999 mu=1.4293 σ=0.7853 params={'learning_rate': 0.0009071884060283581, 'steps_per_switch': 11683, 'total_timesteps': 32934}
[2026-04-14 18:22:48] [Wave3] Proposed params: {'learning_rate': 0.0009335007740897103, 'steps_per_switch': 10939, 'total_timesteps': 37842}
[2026-04-14 18:22:50] [Wave3] Launching trial 6: {'learning_rate': 0.0009335007740897103, 'steps_per_switch': 10939, 'total_timesteps': 37842}
[2026-04-14 18:22:50] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 37842 --steps-per-switch 10939 --learning-rate 0.0009335007740897103 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0006 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 18:54:45] [Wave3] Trial 6 finished in 1915.4s, rc=0
[2026-04-14 18:54:45] [Wave3] Parsed: combined=136.0329 mini_monaco=136.0329
[2026-04-14 18:54:45] [Wave3] ===== Trial 6 Summary =====
[2026-04-14 18:54:45] GP data points : 6
[2026-04-14 18:54:45] Wave3 Champion: trial=5 score=137.58 params={'learning_rate': 0.0008293130840877947, 'steps_per_switch': 7847, 'total_timesteps': 31625}
[2026-04-14 18:54:45] Top 5:
[2026-04-14 18:54:45] score=137.58 params={'learning_rate': 0.0008293130840877947, 'steps_per_switch': 7847, 'total_timesteps': 31625}
[2026-04-14 18:54:45] score=136.03 params={'learning_rate': 0.0009335007740897103, 'steps_per_switch': 10939, 'total_timesteps': 37842}
[2026-04-14 18:54:45] score=28.09 params={'learning_rate': 0.0006723430224246657, 'steps_per_switch': 2400, 'total_timesteps': 31110}
[2026-04-14 18:54:45] score=27.64 params={'learning_rate': 0.0004302041414294587, 'steps_per_switch': 6993, 'total_timesteps': 31040}
[2026-04-14 18:54:45] score=24.77 params={'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 18:54:47]
[Wave3] ========== Trial 7/25 ==========
[2026-04-14 18:54:47] [Wave3] GP UCB top-5 proposals:
[2026-04-14 18:54:47] UCB=2.5695 mu=1.0434 σ=0.7630 params={'learning_rate': 0.0009571853094473745, 'steps_per_switch': 8279, 'total_timesteps': 65149}
[2026-04-14 18:54:47] UCB=2.4957 mu=0.8626 σ=0.8166 params={'learning_rate': 0.0008847315458885072, 'steps_per_switch': 7739, 'total_timesteps': 69794}
[2026-04-14 18:54:47] UCB=2.4939 mu=0.8390 σ=0.8274 params={'learning_rate': 0.0008771680507406297, 'steps_per_switch': 8334, 'total_timesteps': 71955}
[2026-04-14 18:54:47] UCB=2.4561 mu=0.9048 σ=0.7756 params={'learning_rate': 0.0008638688741688625, 'steps_per_switch': 9406, 'total_timesteps': 69536}
[2026-04-14 18:54:47] UCB=2.4282 mu=0.7057 σ=0.8612 params={'learning_rate': 0.0008410317919632058, 'steps_per_switch': 8157, 'total_timesteps': 74924}
[2026-04-14 18:54:47] [Wave3] Proposed params: {'learning_rate': 0.0009571853094473745, 'steps_per_switch': 8279, 'total_timesteps': 65149}
[2026-04-14 18:54:49] [Wave3] Launching trial 7: {'learning_rate': 0.0009571853094473745, 'steps_per_switch': 8279, 'total_timesteps': 65149}
[2026-04-14 18:54:49] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 65149 --steps-per-switch 8279 --learning-rate 0.0009571853094473745 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0007 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 19:58:11] [Wave3] Trial 7 finished in 3801.5s, rc=0
[2026-04-14 19:58:11] [Wave3] Parsed: combined=92.5138 mini_monaco=92.5138
[2026-04-14 19:58:11] [Wave3] ===== Trial 7 Summary =====
[2026-04-14 19:58:11] GP data points : 7
[2026-04-14 19:58:11] Wave3 Champion: trial=5 score=137.58 params={'learning_rate': 0.0008293130840877947, 'steps_per_switch': 7847, 'total_timesteps': 31625}
[2026-04-14 19:58:11] Top 5:
[2026-04-14 19:58:11] score=137.58 params={'learning_rate': 0.0008293130840877947, 'steps_per_switch': 7847, 'total_timesteps': 31625}
[2026-04-14 19:58:11] score=136.03 params={'learning_rate': 0.0009335007740897103, 'steps_per_switch': 10939, 'total_timesteps': 37842}
[2026-04-14 19:58:11] score=92.51 params={'learning_rate': 0.0009571853094473745, 'steps_per_switch': 8279, 'total_timesteps': 65149}
[2026-04-14 19:58:11] score=28.09 params={'learning_rate': 0.0006723430224246657, 'steps_per_switch': 2400, 'total_timesteps': 31110}
[2026-04-14 19:58:11] score=27.64 params={'learning_rate': 0.0004302041414294587, 'steps_per_switch': 6993, 'total_timesteps': 31040}
[2026-04-14 19:58:13]
[Wave3] ========== Trial 8/25 ==========
[2026-04-14 19:58:13] [Wave3] GP UCB top-5 proposals:
[2026-04-14 19:58:13] UCB=2.2244 mu=0.8924 σ=0.6660 params={'learning_rate': 0.0007166192676486139, 'steps_per_switch': 12263, 'total_timesteps': 34585}
[2026-04-14 19:58:13] UCB=2.1788 mu=0.7741 σ=0.7023 params={'learning_rate': 0.00070734628199524, 'steps_per_switch': 12454, 'total_timesteps': 39980}
[2026-04-14 19:58:13] UCB=2.1650 mu=0.7614 σ=0.7018 params={'learning_rate': 0.0007126709588457712, 'steps_per_switch': 12502, 'total_timesteps': 41585}
[2026-04-14 19:58:13] UCB=2.1630 mu=0.7027 σ=0.7301 params={'learning_rate': 0.0006962524520444611, 'steps_per_switch': 12551, 'total_timesteps': 41731}
[2026-04-14 19:58:13] UCB=2.1228 mu=1.4002 σ=0.3613 params={'learning_rate': 0.0009722139517771988, 'steps_per_switch': 7979, 'total_timesteps': 36859}
[2026-04-14 19:58:13] [Wave3] Proposed params: {'learning_rate': 0.0007166192676486139, 'steps_per_switch': 12263, 'total_timesteps': 34585}
[2026-04-14 19:58:15] [Wave3] Launching trial 8: {'learning_rate': 0.0007166192676486139, 'steps_per_switch': 12263, 'total_timesteps': 34585}
[2026-04-14 19:58:15] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 34585 --steps-per-switch 12263 --learning-rate 0.0007166192676486139 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0008 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 20:23:11] [Wave3] Trial 8 finished in 1495.6s, rc=0
[2026-04-14 20:23:11] [Wave3] Parsed: combined=108.3697 mini_monaco=108.3697
[2026-04-14 20:23:11] [Wave3] ===== Trial 8 Summary =====
[2026-04-14 20:23:11] GP data points : 8
[2026-04-14 20:23:11] Wave3 Champion: trial=5 score=137.58 params={'learning_rate': 0.0008293130840877947, 'steps_per_switch': 7847, 'total_timesteps': 31625}
[2026-04-14 20:23:11] Top 5:
[2026-04-14 20:23:11] score=137.58 params={'learning_rate': 0.0008293130840877947, 'steps_per_switch': 7847, 'total_timesteps': 31625}
[2026-04-14 20:23:11] score=136.03 params={'learning_rate': 0.0009335007740897103, 'steps_per_switch': 10939, 'total_timesteps': 37842}
[2026-04-14 20:23:11] score=108.37 params={'learning_rate': 0.0007166192676486139, 'steps_per_switch': 12263, 'total_timesteps': 34585}
[2026-04-14 20:23:11] score=92.51 params={'learning_rate': 0.0009571853094473745, 'steps_per_switch': 8279, 'total_timesteps': 65149}
[2026-04-14 20:23:11] score=28.09 params={'learning_rate': 0.0006723430224246657, 'steps_per_switch': 2400, 'total_timesteps': 31110}
[2026-04-14 20:23:13]
[Wave3] ========== Trial 9/25 ==========
[2026-04-14 20:23:13] [Wave3] GP UCB top-5 proposals:
[2026-04-14 20:23:13] UCB=2.1683 mu=1.5130 σ=0.3277 params={'learning_rate': 0.0009737883579372665, 'steps_per_switch': 8510, 'total_timesteps': 30923}
[2026-04-14 20:23:13] UCB=1.9762 mu=-0.0238 σ=1.0000 params={'learning_rate': 0.0009868738288938224, 'steps_per_switch': 13481, 'total_timesteps': 149987}
[2026-04-14 20:23:13] UCB=1.9705 mu=-0.0295 σ=1.0000 params={'learning_rate': 0.0008613697541025559, 'steps_per_switch': 14439, 'total_timesteps': 144933}
[2026-04-14 20:23:13] UCB=1.9690 mu=-0.0310 σ=1.0000 params={'learning_rate': 0.0008421371980014351, 'steps_per_switch': 14662, 'total_timesteps': 143365}
[2026-04-14 20:23:13] UCB=1.9688 mu=-0.0317 σ=1.0003 params={'learning_rate': 0.0006318576844029589, 'steps_per_switch': 2183, 'total_timesteps': 145839}
[2026-04-14 20:23:13] [Wave3] Proposed params: {'learning_rate': 0.0009737883579372665, 'steps_per_switch': 8510, 'total_timesteps': 30923}
[2026-04-14 20:23:15] [Wave3] Launching trial 9: {'learning_rate': 0.0009737883579372665, 'steps_per_switch': 8510, 'total_timesteps': 30923}
[2026-04-14 20:23:15] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 30923 --steps-per-switch 8510 --learning-rate 0.0009737883579372665 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0009 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 20:37:40] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 20:37:40] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 20:37:40] [Wave3] Only 0 results — using random proposal.
[2026-04-14 20:37:40] [Champion] 🏆 NEW BEST! Trial 3: score=1500.00 (mini_monaco=1500.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 20:37:40] [Champion] 🏆 NEW BEST! Trial 1: score=2000.00 (mini_monaco=2000.0) params={}

5
agent/outerloop-results/autoresearch_results_phase3.jsonl
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@ -1,5 +0,0 @@
{"trial": 1, "timestamp": "2026-04-14T14:34:25.739734", "params": {"learning_rate": 0.000225, "steps_per_switch": 5000, "total_timesteps": 45000}, "combined_test_score": 24.7695, "mini_monaco_reward": 24.7695, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0001/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 2808.679010629654}
{"trial": 2, "timestamp": "2026-04-14T16:33:15.893806", "params": {"learning_rate": 0.000225, "steps_per_switch": 10000, "total_timesteps": 90000}, "combined_test_score": 14.61, "mini_monaco_reward": 14.61, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0002/model.zip", "champion": false, "run_status": "ok", "elapsed_sec": 4797.378093481064}
{"trial": 3, "timestamp": "2026-04-14T17:07:09.327044", "params": {"learning_rate": 0.0004302041414294587, "steps_per_switch": 6993, "total_timesteps": 31040}, "combined_test_score": 27.6387, "mini_monaco_reward": 27.6387, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0003/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 2028.9967634677887}
{"trial": 4, "timestamp": "2026-04-14T17:52:56.249319", "params": {"learning_rate": 0.0006723430224246657, "steps_per_switch": 2400, "total_timesteps": 31110}, "combined_test_score": 28.0934, "mini_monaco_reward": 28.0934, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0004/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 2742.52951335907}
{"trial": 5, "timestamp": "2026-04-14T18:22:44.803514", "params": {"learning_rate": 0.0008293130840877947, "steps_per_switch": 7847, "total_timesteps": 31625}, "combined_test_score": 137.5814, "mini_monaco_reward": 137.5814, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0005/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 1784.4159185886383}

8
agent/outerloop-results/autoresearch_results_phase3_CONTAMINATED_wrong_lr.jsonl Normal file
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@ -0,0 +1,8 @@
{"trial": 1, "timestamp": "2026-04-14T14:34:25.739734", "params": {"learning_rate": 0.000225, "steps_per_switch": 5000, "total_timesteps": 45000}, "combined_test_score": 24.7695, "mini_monaco_reward": 24.7695, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0001/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 2808.679010629654}
{"trial": 2, "timestamp": "2026-04-14T16:33:15.893806", "params": {"learning_rate": 0.000225, "steps_per_switch": 10000, "total_timesteps": 90000}, "combined_test_score": 14.61, "mini_monaco_reward": 14.61, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0002/model.zip", "champion": false, "run_status": "ok", "elapsed_sec": 4797.378093481064}
{"trial": 3, "timestamp": "2026-04-14T17:07:09.327044", "params": {"learning_rate": 0.0004302041414294587, "steps_per_switch": 6993, "total_timesteps": 31040}, "combined_test_score": 27.6387, "mini_monaco_reward": 27.6387, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0003/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 2028.9967634677887}
{"trial": 4, "timestamp": "2026-04-14T17:52:56.249319", "params": {"learning_rate": 0.0006723430224246657, "steps_per_switch": 2400, "total_timesteps": 31110}, "combined_test_score": 28.0934, "mini_monaco_reward": 28.0934, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0004/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 2742.52951335907}
{"trial": 5, "timestamp": "2026-04-14T18:22:44.803514", "params": {"learning_rate": 0.0008293130840877947, "steps_per_switch": 7847, "total_timesteps": 31625}, "combined_test_score": 137.5814, "mini_monaco_reward": 137.5814, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0005/model.zip", "champion": true, "run_status": "ok", "elapsed_sec": 1784.4159185886383}
{"trial": 6, "timestamp": "2026-04-14T18:54:45.786650", "params": {"learning_rate": 0.0009335007740897103, "steps_per_switch": 10939, "total_timesteps": 37842}, "combined_test_score": 136.0329, "mini_monaco_reward": 136.0329, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0006/model.zip", "champion": false, "run_status": "ok", "elapsed_sec": 1915.403836965561}
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