diff --git a/agent/experiments/exp27_random_roads.py b/agent/experiments/exp27_random_roads.py
new file mode 100644
index 0000000..18a432a
--- /dev/null
+++ b/agent/experiments/exp27_random_roads.py
@@ -0,0 +1,282 @@
+"""
+Exp 27: Fresh weights, truly random roads, variable throttle.
+
+Changes from exp26:
+  1. Fresh weights (no warm start) — exp26 peaked at 20k/300k then regressed.
+  2. Random roads: regen_road TCP message with random seed each checkpoint.
+     No close+reconnect (which was silently generating seed=2 road every time).
+  3. Variable throttle: N_THROTTLE=3 → bins [0.2, 0.5, 1.0] after ThrottleClampWrapper.
+  4. BrakeOnUpdateCallback: sends zero control before PPO gradient updates,
+     preventing car from drifting into barriers during the ~5-15s CPU update pause.
+  5. Tighter CTE termination: 2.0m / 0.5s (was 3.0m / 1.0s).
+  6. Higher entropy: ent_coef=0.05 to prevent premature policy collapse.
+  7. Smaller n_steps=1024: shorter rollout → shorter gradient update pause.
+  8. set_ai_text: pushes training stats to sim overlay each checkpoint.
+  9. 500k total steps — more budget for fresh weights to learn variable throttle.
+"""
+import os
+import sys
+import time
+import random
+from datetime import datetime
+
+sys.path.insert(0, '/home/paulh/projects/donkeycar-rl-autoresearch/agent')
+
+_SAVE_DIR = '/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads'
+_PIDFILE  = os.path.join(_SAVE_DIR, 'current.pid')
+os.makedirs(_SAVE_DIR, exist_ok=True)
+
+if os.path.exists(_PIDFILE):
+    try:
+        _old = int(open(_PIDFILE).read().strip())
+        if _old != os.getpid():
+            import signal
+            os.kill(_old, 0)
+            print(f'[exp27] Another instance already running (PID {_old}). Exiting.', flush=True)
+            sys.exit(1)
+    except (OSError, ValueError):
+        pass
+
+import gymnasium as gym
+import numpy as np
+from stable_baselines3 import PPO
+from stable_baselines3.common.vec_env import DummyVecEnv, VecTransposeImage
+from stable_baselines3.common.callbacks import BaseCallback
+
+from discretize_action import DiscretizedActionWrapper
+from donkeycar_sb3_runner import ThrottleClampWrapper
+from multitrack_runner import StuckTerminationWrapper
+from reward_wrapper import SpeedRewardWrapper
+
+
+HOST              = 'localhost'
+PORT              = 9091
+TRACK_ID          = 'donkey-generated-roads-v0'
+THROTTLE_MIN      = 0.2
+LR                = 0.0003
+ENT_COEF          = 0.05
+N_STEPS           = 1024       # smaller rollout → shorter gradient-update pause
+TOTAL_STEPS       = 500_000
+CHECKPOINT_EVERY  = 10_000
+REGEN_WAIT        = 3.0        # seconds after regen_road before reset
+
+N_STEER    = 7
+N_THROTTLE = 3   # throttle bins [0.0,0.5,1.0] → after ThrottleClampWrapper: [0.2,0.5,1.0]
+
+MAX_STUCK_SECONDS     = 5.0
+MAX_EPISODE_SECONDS   = 30.0
+LOW_SPEED_THRESHOLD   = 1.0
+MAX_LOW_SPEED_SECONDS = 1.5
+MAX_CTE_TERMINATION   = 2.0    # tighter than exp26 (3.0m)
+MAX_HIGH_CTE_SECONDS  = 0.5    # tighter than exp26 (1.0s)
+
+EFFICIENCY_WINDOW   = 30
+MIN_EFFICIENCY      = 0.15
+MAX_CTE             = 8.0
+MIN_LAP_TIME        = 12.0
+PROGRESS_PATIENCE   = 100
+
+
+import logging
+_log_ts   = datetime.now().strftime('%Y-%m-%d_%H%M%S')
+_log_path = os.path.join(_SAVE_DIR, f'run_{_log_ts}_random_roads.log')
+_fh = logging.FileHandler(_log_path)
+_fh.setFormatter(logging.Formatter('%(message)s'))
+_sh = logging.StreamHandler(sys.stdout)
+_sh.setFormatter(logging.Formatter('%(message)s'))
+file_log = logging.getLogger('exp27')
+file_log.setLevel(logging.INFO)
+file_log.propagate = False
+file_log.addHandler(_fh)
+file_log.addHandler(_sh)
+
+
+def flog(msg):
+    ts = datetime.now().strftime('%H:%M:%S')
+    file_log.info(f'[{ts}] {msg}')
+
+
+def make_env():
+    def _init():
+        raw = gym.make(TRACK_ID, conf={'host': HOST, 'port': PORT})
+        env = ThrottleClampWrapper(raw, throttle_min=THROTTLE_MIN)
+        env = DiscretizedActionWrapper(env, n_steer=N_STEER, n_throttle=N_THROTTLE)
+        env = StuckTerminationWrapper(
+            env,
+            stuck_steps=40,
+            min_displacement=0.5,
+            max_stuck_seconds=MAX_STUCK_SECONDS,
+            max_episode_seconds=MAX_EPISODE_SECONDS,
+            low_speed_threshold=LOW_SPEED_THRESHOLD,
+            max_low_speed_seconds=MAX_LOW_SPEED_SECONDS,
+            max_cte=MAX_CTE_TERMINATION,
+            max_high_cte_seconds=MAX_HIGH_CTE_SECONDS,
+        )
+        env = SpeedRewardWrapper(
+            env,
+            window_size=EFFICIENCY_WINDOW,
+            min_efficiency=MIN_EFFICIENCY,
+            max_cte=MAX_CTE,
+            min_lap_time=MIN_LAP_TIME,
+            progress_patience=PROGRESS_PATIENCE,
+        )
+        return env
+    return _init
+
+
+def get_handler(vec_env):
+    return vec_env.venv.envs[0].unwrapped.viewer.handler
+
+
+def regen_road(vec_env, seed):
+    msg = {
+        'msg_type': 'regen_road',
+        'road_style': '0',
+        'rand_seed': str(seed),
+        'turn_increment': '0.0',
+    }
+    get_handler(vec_env).queue_message(msg)
+    time.sleep(REGEN_WAIT)
+
+
+def set_ai_text(vec_env, text):
+    try:
+        get_handler(vec_env).queue_message({'msg_type': 'set_ai_text', 'text': text})
+    except Exception:
+        pass
+
+
+class BrakeOnUpdateCallback(BaseCallback):
+    """
+    Sends zero-throttle control to sim before PPO gradient updates begin.
+
+    on_rollout_end() fires after n_steps rollouts are collected, right before
+    PPO starts gradient updates (which can take 5-15s on CPU). Without this,
+    the sim holds the last action → car drifts into barriers during the pause.
+    """
+    def __init__(self, vec_env):
+        super().__init__(verbose=0)
+        self._vec_env = vec_env
+
+    def _on_rollout_end(self):
+        try:
+            get_handler(self._vec_env).queue_message({
+                'msg_type': 'control',
+                'steering': '0.0',
+                'throttle': '0.0',
+                'brake': '0.0',
+            })
+        except Exception:
+            pass
+
+    def _on_step(self):
+        return True
+
+
+flog('=' * 60)
+flog('Exp 27: fresh weights | truly random roads | variable throttle')
+flog(f'  Sim: {HOST}:{PORT} → {TRACK_ID}')
+flog(f'  Steering: {N_STEER} bins | Throttle: {N_THROTTLE} bins → [0.2, 0.5, 1.0]')
+flog(f'  LR={LR}, ent_coef={ENT_COEF}, n_steps={N_STEPS}')
+flog(f'  Total={TOTAL_STEPS:,} steps, checkpoint every {CHECKPOINT_EVERY:,}')
+flog(f'  CTE term: >{MAX_CTE_TERMINATION}m for >{MAX_HIGH_CTE_SECONDS}s')
+flog(f'  Speed term: <{LOW_SPEED_THRESHOLD} for >{MAX_LOW_SPEED_SECONDS}s')
+flog(f'  Episode cap: {MAX_EPISODE_SECONDS}s | Road regen: random seed each checkpoint')
+flog(f'  BrakeOnUpdateCallback: enabled')
+flog('=' * 60)
+
+flog('Connecting to sim...')
+env = DummyVecEnv([make_env()])
+env = VecTransposeImage(env)
+flog(f'  Connected. obs={env.observation_space.shape}, action={env.action_space}')
+
+first_seed = random.randint(0, 100000)
+flog(f'  Initial road regen (seed={first_seed})...')
+regen_road(env, first_seed)
+flog('  Road ready.')
+
+flog('Creating fresh PPO model (no warm start)...')
+model = PPO(
+    'CnnPolicy',
+    env,
+    learning_rate=LR,
+    n_steps=N_STEPS,
+    ent_coef=ENT_COEF,
+    device='cpu',
+    verbose=1,
+)
+flog(f'  Model created. Action space: {env.action_space.n} discrete actions')
+
+with open(_PIDFILE, 'w') as f:
+    f.write(str(os.getpid()))
+
+flog(f'Exp 27 started — PID {os.getpid()}')
+flog(f'Log: {_log_path}')
+
+best_total_steps  = float('-inf')
+best_total_reward = float('-inf')
+steps_done        = 0
+best_model_path   = os.path.join(_SAVE_DIR, 'best_model.zip')
+brake_cb          = BrakeOnUpdateCallback(env)
+current_seed      = first_seed
+
+while steps_done < TOTAL_STEPS:
+    seg_steps = min(CHECKPOINT_EVERY, TOTAL_STEPS - steps_done)
+    model.learn(total_timesteps=seg_steps, reset_num_timesteps=False, callback=brake_cb)
+    steps_done += seg_steps
+
+    ckpt = os.path.join(_SAVE_DIR, f'checkpoint_{steps_done:07d}')
+    model.save(ckpt)
+    model.save(os.path.join(_SAVE_DIR, 'model'))
+    flog(f'[{steps_done:,}/{TOTAL_STEPS:,}] Checkpoint saved')
+
+    current_seed = random.randint(0, 100000)
+    flog(f'  Regenerating road (seed={current_seed})...')
+    regen_road(env, current_seed)
+    flog('  Road ready.')
+
+    try:
+        obs = env.reset()
+        ep_rewards = np.zeros(env.num_envs)
+        ep_steps   = np.zeros(env.num_envs)
+        done_mask  = np.zeros(env.num_envs, dtype=bool)
+
+        for _ in range(2000):
+            action, _ = model.predict(obs, deterministic=True)
+            obs, rewards, dones, infos = env.step(action)
+            for i in range(env.num_envs):
+                if not done_mask[i]:
+                    ep_rewards[i] += rewards[i]
+                    ep_steps[i]   += 1
+                    if dones[i]:
+                        done_mask[i] = True
+            if done_mask.all():
+                break
+
+        total_steps_eval  = int(ep_steps[0])
+        total_reward_eval = float(ep_rewards[0])
+        status = '✅' if total_steps_eval >= 2000 else f'❌@{total_steps_eval}'
+        flog(f'  Eval (seed={current_seed}): {total_reward_eval:.1f}r/{total_steps_eval}s {status}')
+
+        overlay = (f'Exp27 {steps_done//1000:3d}k/{TOTAL_STEPS//1000}k\n'
+                   f'R:{total_reward_eval:6.1f} Seed:{current_seed} {status}')
+        set_ai_text(env, overlay)
+
+        if (total_steps_eval > best_total_steps
+                or (total_steps_eval == best_total_steps
+                    and total_reward_eval > best_total_reward)):
+            best_total_steps  = total_steps_eval
+            best_total_reward = total_reward_eval
+            model.save(best_model_path)
+            flog(f'  NEW BEST: steps={best_total_steps} reward={best_total_reward:.1f}')
+
+    except Exception as e:
+        flog(f'  Eval error: {e}')
+
+env.close()
+
+flog('=' * 60)
+flog('Exp 27 complete.')
+flog(f'Best model: {best_model_path}')
+flog(f'Best eval: steps={best_total_steps} reward={best_total_reward:.1f}')
+flog('=' * 60)
diff --git a/agent/experiments/verify_minimap_refresh.py b/agent/experiments/verify_minimap_refresh.py
new file mode 100644
index 0000000..14e0f6a
--- /dev/null
+++ b/agent/experiments/verify_minimap_refresh.py
@@ -0,0 +1,46 @@
+"""
+Quick test: regen road 3 times, print node[10] position after each.
+If the position changes, the minimap fix will detect it and refresh.
+"""
+import sys, time
+sys.path.insert(0, '/home/paulh/projects/donkeycar-rl-autoresearch/agent')
+
+import gymnasium as gym
+import gym_donkeycar  # noqa
+
+HOST, PORT = 'localhost', 9091
+SEEDS = [1111, 55555, 99999, 12345, 77777]
+
+env = gym.make('donkey-generated-roads-v0', conf={'host': HOST, 'port': PORT})
+handler = env.unwrapped.viewer.handler
+
+def regen(seed):
+    handler.queue_message({
+        'msg_type': 'regen_road', 'road_style': '0',
+        'rand_seed': str(seed), 'turn_increment': '0.0',
+    })
+    time.sleep(3.5)
+    obs, info = env.reset()
+    # Take one step to get fresh telemetry
+    obs, _, _, _, info = env.step([0.0, 0.1])
+    return info.get('pos', None), info.get('cte', None)
+
+print('Testing road regen — recording car position after reset+1step:')
+print()
+
+positions = []
+for seed in SEEDS:
+    pos, cte = regen(seed)
+    p = list(pos)[:3] if pos else [0,0,0]
+    positions.append(p)
+    print(f'  Seed {seed:6d}: pos x={p[0]:.3f}  y={p[1]:.3f}  z={p[2]:.3f}  cte={cte:.3f}')
+
+env.close()
+
+print()
+# All positions should be the same (car always spawns at startPos).
+# But road node[10] position will differ — proven by the fact that CTE diverges after a few steps.
+print('Car spawn position is always the same (startPos) — comparison via driving test is needed.')
+print('Run verify_road_regen.py for that proof.')
+print()
+print('If the MINIMAP in the sim window changed shape between each regen above, the fix works.')
diff --git a/agent/experiments/verify_road_regen.py b/agent/experiments/verify_road_regen.py
new file mode 100644
index 0000000..72521fd
--- /dev/null
+++ b/agent/experiments/verify_road_regen.py
@@ -0,0 +1,111 @@
+"""
+Verify that regen_road actually produces different tracks.
+
+Method: connect to sim, regen road with 3 seeds, drive straight ahead for
+100 steps on each, record final CTE. Different roads curve differently,
+so a straight-ahead policy will accumulate CTE in different directions/amounts.
+
+Also prints the first few node positions from the handler if accessible.
+"""
+import sys
+import time
+import numpy as np
+
+sys.path.insert(0, '/home/paulh/projects/donkeycar-rl-autoresearch/agent')
+
+import gymnasium as gym
+import gym_donkeycar  # noqa: F401 — registers donkey envs
+
+HOST     = 'localhost'
+PORT     = 9091
+TRACK_ID = 'donkey-generated-roads-v0'
+SEEDS    = [1111, 55555, 99999]
+STEPS    = 500      # drive lane-following steps per seed
+THROTTLE = 0.3
+STEER_GAIN = 0.8    # proportional: steer = -cte * gain
+WAIT     = 3.5      # seconds after regen before reset
+
+
+def get_handler(env):
+    return env.unwrapped.viewer.handler
+
+
+def regen_road(env, seed):
+    get_handler(env).queue_message({
+        'msg_type': 'regen_road',
+        'road_style': '0',
+        'rand_seed': str(seed),
+        'turn_increment': '0.0',
+    })
+    time.sleep(WAIT)
+
+
+print('Connecting to sim...')
+env = gym.make(TRACK_ID, conf={'host': HOST, 'port': PORT})
+print(f'  Connected. obs={env.observation_space.shape}')
+
+results = {}
+
+for seed in SEEDS:
+    print(f'\n── Seed {seed} ──────────────────────')
+    print(f'  Regenerating road...')
+    regen_road(env, seed)
+
+    obs, info = env.reset()
+    cte_values = []
+    pos_values = []
+
+    for step in range(STEPS):
+        # Lane-following: steer proportional to CTE so the car stays on road.
+        # Different road geometries will produce different CTE histories.
+        last_cte = cte_values[-1] if cte_values else 0.0
+        steer = float(np.clip(-last_cte * STEER_GAIN, -1.0, 1.0))
+        action = np.array([steer, THROTTLE], dtype=np.float32)
+
+        obs, reward, terminated, truncated, info = env.step(action)
+        cte = info.get('cte', 0.0)
+        pos = info.get('pos', None)
+        cte_values.append(float(cte))
+        if pos is not None:
+            pos_values.append(list(pos)[:3])
+        if terminated or truncated:
+            print(f'  Episode ended at step {step+1}')
+            break
+
+    final_cte   = cte_values[-1] if cte_values else 0.0
+    mean_cte    = float(np.mean(cte_values)) if cte_values else 0.0
+    max_abs_cte = float(np.max(np.abs(cte_values))) if cte_values else 0.0
+    final_pos   = pos_values[-1] if pos_values else None
+
+    results[seed] = {
+        'final_cte':   final_cte,
+        'mean_cte':    mean_cte,
+        'max_abs_cte': max_abs_cte,
+        'steps':       len(cte_values),
+        'final_pos':   final_pos,
+    }
+
+    print(f'  Steps driven : {len(cte_values)}')
+    print(f'  Final CTE    : {final_cte:+.3f}m  (+ = right of centre, - = left)')
+    print(f'  Mean CTE     : {mean_cte:+.3f}m')
+    print(f'  Max |CTE|    : {max_abs_cte:.3f}m')
+    if final_pos:
+        print(f'  Final pos    : x={final_pos[0]:.2f}  y={final_pos[1]:.2f}  z={final_pos[2]:.2f}')
+
+env.close()
+
+print('\n' + '='*50)
+print('SUMMARY — same straight-ahead policy, different seeds:')
+print('='*50)
+for seed, r in results.items():
+    p = r['final_pos']
+    pos_str = f'x={p[0]:.1f} z={p[2]:.1f}' if p else 'N/A'
+    print(f'  Seed {seed:6d}:  CTE={r["final_cte"]:+.3f}m  steps={r["steps"]}  pos={pos_str}')
+
+ctes = [r['final_cte'] for r in results.values()]
+spread = max(ctes) - min(ctes)
+print(f'\nCTE spread across seeds: {spread:.3f}m')
+if spread > 0.3:
+    print('✅  ROADS ARE DIFFERENT — CTE spread > 0.3m confirms different road geometries')
+else:
+    print('❌  ROADS MAY BE THE SAME — CTE spread is small, road gen may not be working')
diff --git a/agent/models/exp27-random-roads/current.pid b/agent/models/exp27-random-roads/current.pid
new file mode 100644
index 0000000..93603c4
--- /dev/null
+++ b/agent/models/exp27-random-roads/current.pid
@@ -0,0 +1 @@
+1094759
\ No newline at end of file
diff --git a/agent/models/exp27-random-roads/run_2026-05-06_113118_random_roads.log b/agent/models/exp27-random-roads/run_2026-05-06_113118_random_roads.log
new file mode 100644
index 0000000..7e17325
--- /dev/null
+++ b/agent/models/exp27-random-roads/run_2026-05-06_113118_random_roads.log
@@ -0,0 +1,73 @@
+[11:31:18] ============================================================
+[11:31:18] Exp 27: fresh weights | truly random roads | variable throttle
+[11:31:18]   Sim: localhost:9091 → donkey-generated-roads-v0
+[11:31:18]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
+[11:31:18]   LR=0.0003, ent_coef=0.05, n_steps=1024
+[11:31:18]   Total=500,000 steps, checkpoint every 10,000
+[11:31:18]   CTE term: >2.0m for >0.5s
+[11:31:18]   Speed term: <1.0 for >1.5s
+[11:31:18]   Episode cap: 30.0s | Road regen: random seed each checkpoint
+[11:31:18]   BrakeOnUpdateCallback: enabled
+[11:31:18] ============================================================
+[11:31:18] Connecting to sim...
+[11:31:18]   Connected. obs=(3, 120, 160), action=Discrete(21)
+[11:31:18]   Initial road regen (seed=93502)...
+[11:31:21]   Road ready.
+[11:31:21] Creating fresh PPO model (no warm start)...
+[11:31:24]   Model created. Action space: 21 discrete actions
+[11:31:24] Exp 27 started — PID 1038769
+[11:31:24] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads/run_2026-05-06_113118_random_roads.log
+[11:46:09] [10,000/500,000] Checkpoint saved
+[11:46:09]   Regenerating road (seed=42649)...
+[11:46:12]   Road ready.
+[11:46:15]   Eval (seed=42649): -0.3r/19s ❌@19
+[11:46:15]   NEW BEST: steps=19 reward=-0.3
+[11:54:27] [20,000/500,000] Checkpoint saved
+[11:54:27]   Regenerating road (seed=77345)...
+[11:54:30]   Road ready.
+[11:54:56]   Eval (seed=77345): 376.1r/2000s ✅
+[11:54:57]   NEW BEST: steps=2000 reward=376.1
+[12:00:59] [30,000/500,000] Checkpoint saved
+[12:00:59]   Regenerating road (seed=78734)...
+[12:01:02]   Road ready.
+[12:01:21]   Eval (seed=78734): 373.2r/1343s ❌@1343
+[12:07:22] [40,000/500,000] Checkpoint saved
+[12:07:22]   Regenerating road (seed=11684)...
+[12:07:25]   Road ready.
+[12:07:45]   Eval (seed=11684): 426.2r/1439s ❌@1439
+[12:13:34] [50,000/500,000] Checkpoint saved
+[12:13:34]   Regenerating road (seed=10443)...
+[12:13:37]   Road ready.
+[12:13:41]   Eval (seed=10443): 40.2r/148s ❌@148
+[12:20:30] [60,000/500,000] Checkpoint saved
+[12:20:30]   Regenerating road (seed=80972)...
+[12:20:33]   Road ready.
+[12:20:44]   Eval (seed=80972): 191.4r/692s ❌@692
+[12:28:53] [70,000/500,000] Checkpoint saved
+[12:28:53]   Regenerating road (seed=94871)...
+[12:28:56]   Road ready.
+[12:29:02]   Eval (seed=94871): 77.6r/307s ❌@307
+[12:36:13] [80,000/500,000] Checkpoint saved
+[12:36:13]   Regenerating road (seed=95951)...
+[12:36:16]   Road ready.
+[12:36:31]   Eval (seed=95951): 287.5r/1028s ❌@1028
+[12:44:31] [90,000/500,000] Checkpoint saved
+[12:44:31]   Regenerating road (seed=11746)...
+[12:44:34]   Road ready.
+[12:44:41]   Eval (seed=11746): 74.4r/326s ❌@326
+[12:53:25] [100,000/500,000] Checkpoint saved
+[12:53:25]   Regenerating road (seed=91868)...
+[12:53:28]   Road ready.
+[12:53:34]   Eval (seed=91868): 81.3r/309s ❌@309
+[13:01:22] [110,000/500,000] Checkpoint saved
+[13:01:22]   Regenerating road (seed=29423)...
+[13:01:25]   Road ready.
+[13:01:31]   Eval (seed=29423): 71.7r/290s ❌@290
+[13:08:34] [120,000/500,000] Checkpoint saved
+[13:08:34]   Regenerating road (seed=36897)...
+[13:08:37]   Road ready.
+[13:08:43]   Eval (seed=36897): 60.6r/257s ❌@257
+[13:15:45] [130,000/500,000] Checkpoint saved
+[13:15:45]   Regenerating road (seed=73069)...
+[13:15:48]   Road ready.
+[13:15:54]   Eval (seed=73069): 67.5r/262s ❌@262
diff --git a/agent/models/exp27-random-roads/run_2026-05-06_133703_random_roads.log b/agent/models/exp27-random-roads/run_2026-05-06_133703_random_roads.log
new file mode 100644
index 0000000..5736801
--- /dev/null
+++ b/agent/models/exp27-random-roads/run_2026-05-06_133703_random_roads.log
@@ -0,0 +1,37 @@
+[13:37:03] ============================================================
+[13:37:03] Exp 27: fresh weights | truly random roads | variable throttle
+[13:37:03]   Sim: localhost:9091 → donkey-generated-roads-v0
+[13:37:03]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
+[13:37:03]   LR=0.0003, ent_coef=0.05, n_steps=1024
+[13:37:03]   Total=500,000 steps, checkpoint every 10,000
+[13:37:03]   CTE term: >2.0m for >0.5s
+[13:37:03]   Speed term: <1.0 for >1.5s
+[13:37:03]   Episode cap: 30.0s | Road regen: random seed each checkpoint
+[13:37:03]   BrakeOnUpdateCallback: enabled
+[13:37:03] ============================================================
+[13:37:03] Connecting to sim...
+[13:37:04]   Connected. obs=(3, 120, 160), action=Discrete(21)
+[13:37:04]   Initial road regen (seed=81035)...
+[13:37:07]   Road ready.
+[13:37:07] Creating fresh PPO model (no warm start)...
+[13:37:08]   Model created. Action space: 21 discrete actions
+[13:37:08] Exp 27 started — PID 1082126
+[13:37:08] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads/run_2026-05-06_133703_random_roads.log
+[13:45:35] [10,000/500,000] Checkpoint saved
+[13:45:35]   Regenerating road (seed=68546)...
+[13:45:38]   Road ready.
+[13:45:42]   Eval (seed=68546): 39.0r/145s ❌@145
+[13:45:43]   NEW BEST: steps=145 reward=39.0
+[13:52:28] [20,000/500,000] Checkpoint saved
+[13:52:28]   Regenerating road (seed=35735)...
+[13:52:31]   Road ready.
+[13:52:36]   Eval (seed=35735): 71.6r/230s ❌@230
+[13:52:37]   NEW BEST: steps=230 reward=71.6
+[13:58:59] [30,000/500,000] Checkpoint saved
+[13:58:59]   Regenerating road (seed=98061)...
+[13:59:02]   Road ready.
+[13:59:06]   Eval (seed=98061): 39.2r/139s ❌@139
+[14:07:08] [40,000/500,000] Checkpoint saved
+[14:07:08]   Regenerating road (seed=2167)...
+[14:07:11]   Road ready.
+[14:07:16]   Eval (seed=2167): 33.9r/148s ❌@148
diff --git a/agent/models/exp27-random-roads/run_2026-05-06_140932_random_roads.log b/agent/models/exp27-random-roads/run_2026-05-06_140932_random_roads.log
new file mode 100644
index 0000000..1f6d347
--- /dev/null
+++ b/agent/models/exp27-random-roads/run_2026-05-06_140932_random_roads.log
@@ -0,0 +1,13370 @@
+/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.
+[14:09:34] ============================================================
+[14:09:34] Exp 27: fresh weights | truly random roads | variable throttle
+[14:09:34]   Sim: localhost:9091 → donkey-generated-roads-v0
+[14:09:34]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
+[14:09:34]   LR=0.0003, ent_coef=0.05, n_steps=1024
+[14:09:34]   Total=500,000 steps, checkpoint every 10,000
+[14:09:34]   CTE term: >2.0m for >0.5s
+[14:09:34]   Speed term: <1.0 for >1.5s
+[14:09:34]   Episode cap: 30.0s | Road regen: random seed each checkpoint
+[14:09:34]   BrakeOnUpdateCallback: enabled
+[14:09:34] ============================================================
+[14:09:34] 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..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+Exception in thread Thread-1 (proc_msg):
+Traceback (most recent call last):
+  File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/client.py", line 102, in proc_msg
+    data = s.recv(1024 * 256)
+ConnectionResetError: [Errno 104] Connection reset by peer
+
+During handling of the above exception, another exception occurred:
+
+Traceback (most recent call last):
+  File "/usr/lib/python3.10/threading.py", line 1016, in _bootstrap_inner
+    self.run()
+  File "/usr/lib/python3.10/threading.py", line 953, in run
+    self._target(*self._args, **self._kwargs)
+  File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/client.py", line 154, in proc_msg
+    self.on_msg_recv({"msg_type": "aborted"})
+  File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/sim_client.py", line 48, in on_msg_recv
+    self.msg_handler.on_recv_message(json_obj)
+  File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/envs/donkey_sim.py", line 385, in on_recv_message
+    self.fns[msg_type](message)
+  File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/envs/donkey_sim.py", line 205, in on_abort
+    self.client.stop()
+  File "/home/paulh/.local/lib/python3.10/site-packages/gym_donkeycar/core/client.py", line 75, in stop
+    self.th.join()
+  File "/usr/lib/python3.10/threading.py", line 1093, in join
+    raise RuntimeError("cannot join current thread")
+RuntimeError: cannot join current thread
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
+WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
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diff --git a/agent/models/exp27-random-roads/run_2026-05-06_140934_random_roads.log b/agent/models/exp27-random-roads/run_2026-05-06_140934_random_roads.log
new file mode 100644
index 0000000..889b20e
--- /dev/null
+++ b/agent/models/exp27-random-roads/run_2026-05-06_140934_random_roads.log
@@ -0,0 +1,12 @@
+[14:09:34] ============================================================
+[14:09:34] Exp 27: fresh weights | truly random roads | variable throttle
+[14:09:34]   Sim: localhost:9091 → donkey-generated-roads-v0
+[14:09:34]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
+[14:09:34]   LR=0.0003, ent_coef=0.05, n_steps=1024
+[14:09:34]   Total=500,000 steps, checkpoint every 10,000
+[14:09:34]   CTE term: >2.0m for >0.5s
+[14:09:34]   Speed term: <1.0 for >1.5s
+[14:09:34]   Episode cap: 30.0s | Road regen: random seed each checkpoint
+[14:09:34]   BrakeOnUpdateCallback: enabled
+[14:09:34] ============================================================
+[14:09:34] Connecting to sim...
diff --git a/agent/models/exp27-random-roads/run_2026-05-06_141328_random_roads.log b/agent/models/exp27-random-roads/run_2026-05-06_141328_random_roads.log
new file mode 100644
index 0000000..e9d712e
--- /dev/null
+++ b/agent/models/exp27-random-roads/run_2026-05-06_141328_random_roads.log
@@ -0,0 +1,145 @@
+[14:13:28] ============================================================
+[14:13:28] Exp 27: fresh weights | truly random roads | variable throttle
+[14:13:28]   Sim: localhost:9091 → donkey-generated-roads-v0
+[14:13:28]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
+[14:13:28]   LR=0.0003, ent_coef=0.05, n_steps=1024
+[14:13:28]   Total=500,000 steps, checkpoint every 10,000
+[14:13:28]   CTE term: >2.0m for >0.5s
+[14:13:28]   Speed term: <1.0 for >1.5s
+[14:13:28]   Episode cap: 30.0s | Road regen: random seed each checkpoint
+[14:13:28]   BrakeOnUpdateCallback: enabled
+[14:13:28] ============================================================
+[14:13:28] Connecting to sim...
+[14:13:29]   Connected. obs=(3, 120, 160), action=Discrete(21)
+[14:13:29]   Initial road regen (seed=89942)...
+[14:13:32]   Road ready.
+[14:13:32] Creating fresh PPO model (no warm start)...
+[14:13:34]   Model created. Action space: 21 discrete actions
+[14:13:34] Exp 27 started — PID 1094759
+[14:13:34] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads/run_2026-05-06_141328_random_roads.log
+[14:24:26] [10,000/500,000] Checkpoint saved
+[14:24:26]   Regenerating road (seed=63790)...
+[14:24:29]   Road ready.
+[14:24:43]   Eval (seed=63790): 250.5r/924s ❌@924
+[14:24:43]   NEW BEST: steps=924 reward=250.5
+[14:33:21] [20,000/500,000] Checkpoint saved
+[14:33:21]   Regenerating road (seed=54863)...
+[14:33:24]   Road ready.
+[14:33:38]   Eval (seed=54863): 275.1r/925s ❌@925
+[14:33:38]   NEW BEST: steps=925 reward=275.1
+[14:41:36] [30,000/500,000] Checkpoint saved
+[14:41:36]   Regenerating road (seed=84765)...
+[14:41:39]   Road ready.
+[14:41:58]   Eval (seed=84765): 377.3r/1325s ❌@1325
+[14:41:58]   NEW BEST: steps=1325 reward=377.3
+[14:49:45] [40,000/500,000] Checkpoint saved
+[14:49:45]   Regenerating road (seed=62695)...
+[14:49:48]   Road ready.
+[14:49:52]   Eval (seed=62695): 33.8r/134s ❌@134
+[14:57:31] [50,000/500,000] Checkpoint saved
+[14:57:31]   Regenerating road (seed=51171)...
+[14:57:34]   Road ready.
+[14:57:56]   Eval (seed=51171): 452.6r/1575s ❌@1575
+[14:57:57]   NEW BEST: steps=1575 reward=452.6
+[15:05:11] [60,000/500,000] Checkpoint saved
+[15:05:11]   Regenerating road (seed=13427)...
+[15:05:14]   Road ready.
+[15:05:29]   Eval (seed=13427): 289.0r/1013s ❌@1013
+[15:12:02] [70,000/500,000] Checkpoint saved
+[15:12:02]   Regenerating road (seed=99752)...
+[15:12:05]   Road ready.
+[15:12:29]   Eval (seed=99752): 432.3r/1648s ❌@1648
+[15:12:29]   NEW BEST: steps=1648 reward=432.3
+[15:19:09] [80,000/500,000] Checkpoint saved
+[15:19:09]   Regenerating road (seed=40584)...
+[15:19:12]   Road ready.
+[15:19:34]   Eval (seed=40584): 449.9r/1567s ❌@1567
+[15:25:49] [90,000/500,000] Checkpoint saved
+[15:25:49]   Regenerating road (seed=23677)...
+[15:25:52]   Road ready.
+[15:26:14]   Eval (seed=23677): 444.3r/1522s ❌@1522
+[15:33:01] [100,000/500,000] Checkpoint saved
+[15:33:01]   Regenerating road (seed=11818)...
+[15:33:04]   Road ready.
+[15:33:09]   Eval (seed=11818): 30.4r/160s ❌@160
+[15:39:06] [110,000/500,000] Checkpoint saved
+[15:39:06]   Regenerating road (seed=15439)...
+[15:39:09]   Road ready.
+[15:39:32]   Eval (seed=15439): 462.7r/1580s ❌@1580
+[15:45:27] [120,000/500,000] Checkpoint saved
+[15:45:27]   Regenerating road (seed=79776)...
+[15:45:30]   Road ready.
+[15:45:43]   Eval (seed=79776): 251.7r/893s ❌@893
+[15:51:51] [130,000/500,000] Checkpoint saved
+[15:51:51]   Regenerating road (seed=51)...
+[15:51:54]   Road ready.
+[15:52:09]   Eval (seed=51): 273.5r/1029s ❌@1029
+[15:58:08] [140,000/500,000] Checkpoint saved
+[15:58:08]   Regenerating road (seed=15985)...
+[15:58:11]   Road ready.
+[15:58:30]   Eval (seed=15985): 386.8r/1260s ❌@1260
+[16:04:29] [150,000/500,000] Checkpoint saved
+[16:04:29]   Regenerating road (seed=78623)...
+[16:04:32]   Road ready.
+[16:04:37]   Eval (seed=78623): 50.5r/193s ❌@193
+[16:11:04] [160,000/500,000] Checkpoint saved
+[16:11:04]   Regenerating road (seed=68780)...
+[16:11:07]   Road ready.
+[16:11:19]   Eval (seed=68780): 194.3r/753s ❌@753
+[16:17:48] [170,000/500,000] Checkpoint saved
+[16:17:48]   Regenerating road (seed=27669)...
+[16:17:51]   Road ready.
+[16:18:11]   Eval (seed=27669): 375.2r/1371s ❌@1371
+[16:24:47] [180,000/500,000] Checkpoint saved
+[16:24:47]   Regenerating road (seed=32153)...
+[16:24:50]   Road ready.
+[16:24:55]   Eval (seed=32153): 45.6r/188s ❌@188
+[16:31:56] [190,000/500,000] Checkpoint saved
+[16:31:56]   Regenerating road (seed=23522)...
+[16:31:59]   Road ready.
+[16:32:22]   Eval (seed=23522): 444.2r/1652s ❌@1652
+[16:32:22]   NEW BEST: steps=1652 reward=444.2
+[16:38:46] [200,000/500,000] Checkpoint saved
+[16:38:46]   Regenerating road (seed=35712)...
+[16:38:49]   Road ready.
+[16:38:59]   Eval (seed=35712): 200.8r/657s ❌@657
+[16:45:01] [210,000/500,000] Checkpoint saved
+[16:45:01]   Regenerating road (seed=84828)...
+[16:45:04]   Road ready.
+[16:45:09]   Eval (seed=84828): 53.5r/219s ❌@219
+[16:51:16] [220,000/500,000] Checkpoint saved
+[16:51:16]   Regenerating road (seed=66225)...
+[16:51:19]   Road ready.
+[16:51:42]   Eval (seed=66225): 425.7r/1612s ❌@1612
+[16:58:23] [230,000/500,000] Checkpoint saved
+[16:58:23]   Regenerating road (seed=41094)...
+[16:58:26]   Road ready.
+[16:58:36]   Eval (seed=41094): 162.1r/581s ❌@581
+[17:05:03] [240,000/500,000] Checkpoint saved
+[17:05:03]   Regenerating road (seed=51566)...
+[17:05:06]   Road ready.
+[17:05:29]   Eval (seed=51566): 438.2r/1613s ❌@1613
+[17:12:04] [250,000/500,000] Checkpoint saved
+[17:12:04]   Regenerating road (seed=18319)...
+[17:12:07]   Road ready.
+[17:12:10]   Eval (seed=18319): 19.8r/116s ❌@116
+[17:18:52] [260,000/500,000] Checkpoint saved
+[17:18:52]   Regenerating road (seed=99555)...
+[17:18:55]   Road ready.
+[17:19:05]   Eval (seed=99555): 182.6r/603s ❌@603
+[17:25:37] [270,000/500,000] Checkpoint saved
+[17:25:37]   Regenerating road (seed=59896)...
+[17:25:40]   Road ready.
+[17:25:45]   Eval (seed=59896): 59.4r/228s ❌@228
+[17:32:04] [280,000/500,000] Checkpoint saved
+[17:32:04]   Regenerating road (seed=50173)...
+[17:32:07]   Road ready.
+[17:32:28]   Eval (seed=50173): 409.5r/1498s ❌@1498
+[17:39:17] [290,000/500,000] Checkpoint saved
+[17:39:17]   Regenerating road (seed=2910)...
+[17:39:20]   Road ready.
+[17:39:30]   Eval (seed=2910): 132.7r/558s ❌@558
+[17:47:37] [300,000/500,000] Checkpoint saved
+[17:47:37]   Regenerating road (seed=46529)...
+[17:47:40]   Road ready.
+[17:47:48]   Eval (seed=46529): 120.3r/465s ❌@465