fix: reward v4 — full sim bypass kills circular driving at root
ROOT CAUSE: donkey_sim.py calc_reward() uses forward_vel = dot(heading, velocity). A spinning car ALWAYS has forward_vel > 0 (always moving 'forward' relative to its own heading), so it earned positive reward indefinitely while circling. v3 WAS INSUFFICIENT: v3 applied efficiency only to the speed BONUS: original × (1 + speed×eff×scale) But 'original' from sim was still exploitable: CTE≈0 while spinning → original=1.0/step Efficiency killed the speed bonus but not the base reward. 47k-step run: spinning = 1.0/step × 47k = 47k reward (never crashes in circle) v4 FIX — base × efficiency × speed: reward = (1 - abs(cte)/max_cte) × efficiency × (1 + speed_scale × speed) Completely ignores sim's bogus forward_vel reward. Spinning (eff≈0): reward ≈ 0 regardless of CTE or speed. ALL three terms must be high to earn reward — cannot be gamed. Key new test: test_circling_at_zero_cte_gives_near_zero_reward Worst-case exploit (CTE=0 spinning) → avg reward < 0.15 (was 1.0 in v3) forward_beats_circling_by_3x confirmed. Also: update Phase 2 autoresearch timesteps test, research log updated. Agent: pi/claude-sonnet Tests: 40/40 passing Tests-Added: +1 (core v4 circling guarantee) TypeScript: N/A
This commit is contained in:
Paul Huliganga
parent
7b8830f0cb
commit
c8a495dd22
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[2026-04-13 19:33:13] ============================================================
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[2026-04-13 19:33:13] [AutoResearch] Phase 1 — Real PPO Training + GP+UCB Optimization
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[2026-04-13 19:33:13] [AutoResearch] Max trials: 20 | kappa: 2.0 | push every: 5
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[2026-04-13 19:33:13] [AutoResearch] Results: /home/paulh/projects/donkeycar-rl-autoresearch/agent/outerloop-results/autoresearch_results_phase2.jsonl
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[2026-04-13 19:33:13] [AutoResearch] Champion: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion
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[2026-04-13 19:33:13] ============================================================
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[2026-04-13 19:33:13] [AutoResearch] Loaded 0 existing Phase 1 results.
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[2026-04-13 19:33:13] [AutoResearch] Champion: trial=5 mean_reward=4582.7984 params={'n_steer': 7, 'n_throttle': 3, 'learning_rate': 0.0006801262090358742, 'timesteps': 4787, 'agent': 'ppo', 'eval_episodes': 3, 'reward_shaping': True}
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[2026-04-13 19:33:13]
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[AutoResearch] ========== Trial 1/20 ==========
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[2026-04-13 19:33:13] [AutoResearch] Only 0 results — using random proposal.
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[2026-04-13 19:33:13] [AutoResearch] Proposed: {'n_steer': 4, 'n_throttle': 3, 'learning_rate': 0.0009737963906394612, 'timesteps': 47325, 'agent': 'ppo', 'eval_episodes': 5, 'reward_shaping': True}
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[2026-04-13 19:33:15] [AutoResearch] Launching trial 1: {'n_steer': 4, 'n_throttle': 3, 'learning_rate': 0.0009737963906394612, 'timesteps': 47325, 'agent': 'ppo', 'eval_episodes': 5, 'reward_shaping': True}
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[2026-04-13 20:05:03] [AutoResearch] Trial 1 finished in 1908.3s, returncode=0
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[2026-04-13 20:05:03] [AutoResearch] Trial 1: mean_reward=234.5386 std_reward=3.1547
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[2026-04-13 20:05:03] [AutoResearch] === Trial 1 Summary ===
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[2026-04-13 20:05:03] Total Phase 1 runs: 1
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[2026-04-13 20:05:03] Champion: trial=5 mean_reward=4582.7984 params={'n_steer': 7, 'n_throttle': 3, 'learning_rate': 0.0006801262090358742, 'timesteps': 4787, 'agent': 'ppo', 'eval_episodes': 3, 'reward_shaping': True}
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[2026-04-13 20:05:03] Top 5:
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[2026-04-13 20:05:03] mean_reward=234.5386 params={'n_steer': 4, 'n_throttle': 3, 'learning_rate': 0.0009737963906394612, 'timesteps': 47325, 'agent': 'ppo', 'eval_episodes': 5, 'reward_shaping': True}
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[2026-04-13 20:05:05]
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[AutoResearch] ========== Trial 2/20 ==========
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[2026-04-13 20:05:05] [AutoResearch] Only 1 results — using random proposal.
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[2026-04-13 20:05:05] [AutoResearch] Proposed: {'n_steer': 8, 'n_throttle': 3, 'learning_rate': 0.0012285179829782996, 'timesteps': 39101, 'agent': 'ppo', 'eval_episodes': 5, 'reward_shaping': True}
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[2026-04-13 20:05:07] [AutoResearch] Launching trial 2: {'n_steer': 8, 'n_throttle': 3, 'learning_rate': 0.0012285179829782996, 'timesteps': 39101, 'agent': 'ppo', 'eval_episodes': 5, 'reward_shaping': True}
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[2026-04-13 20:55:43] [AutoResearch] GP UCB top-5 candidates:
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[2026-04-13 20:55:43] UCB=2.3107 mu=0.3981 sigma=0.9563 params={'n_steer': 9, 'n_throttle': 2, 'learning_rate': 0.001405531880392808, 'timesteps': 26173}
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[2026-04-13 20:55:43] UCB=2.3049 mu=0.8602 sigma=0.7224 params={'n_steer': 9, 'n_throttle': 3, 'learning_rate': 0.001793493447174312, 'timesteps': 19198}
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[2026-04-13 20:55:43] UCB=2.2813 mu=0.4904 sigma=0.8954 params={'n_steer': 9, 'n_throttle': 4, 'learning_rate': 0.0011616192816742616, 'timesteps': 13887}
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[2026-04-13 20:55:43] UCB=2.2767 mu=0.5194 sigma=0.8787 params={'n_steer': 9, 'n_throttle': 4, 'learning_rate': 0.0011646447444663046, 'timesteps': 21199}
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[2026-04-13 20:55:43] UCB=2.2525 mu=0.6254 sigma=0.8136 params={'n_steer': 9, 'n_throttle': 3, 'learning_rate': 0.0010196345864901517, 'timesteps': 22035}
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[2026-04-13 20:55:43] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=50.0000 params={'n_steer': 5}
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[2026-04-13 20:55:43] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=80.0000 params={'n_steer': 7}
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[2026-04-13 20:55:43] [Champion] 🏆 NEW BEST! Trial 0: mean_reward=50.0000 params={'r': 50}
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[2026-04-13 20:55:43] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=80.0000 params={'r': 80}
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[2026-04-13 20:55:43] [Champion] 🏆 NEW BEST! Trial 3: mean_reward=90.0000 params={'r': 90}
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[2026-04-13 20:55:43] [Champion] 🏆 NEW BEST! Trial 5: mean_reward=75.0000 params={'n_steer': 8}
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[2026-04-13 20:55:43] [AutoResearch] Only 1 results — using random proposal.
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[2026-04-13 20:55:59] [AutoResearch] GP UCB top-5 candidates:
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[2026-04-13 20:55:59] UCB=2.3107 mu=0.3981 sigma=0.9563 params={'n_steer': 9, 'n_throttle': 2, 'learning_rate': 0.001405531880392808, 'timesteps': 26173}
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[2026-04-13 20:55:59] UCB=2.3049 mu=0.8602 sigma=0.7224 params={'n_steer': 9, 'n_throttle': 3, 'learning_rate': 0.001793493447174312, 'timesteps': 19198}
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[2026-04-13 20:55:59] UCB=2.2813 mu=0.4904 sigma=0.8954 params={'n_steer': 9, 'n_throttle': 4, 'learning_rate': 0.0011616192816742616, 'timesteps': 13887}
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[2026-04-13 20:55:59] UCB=2.2767 mu=0.5194 sigma=0.8787 params={'n_steer': 9, 'n_throttle': 4, 'learning_rate': 0.0011646447444663046, 'timesteps': 21199}
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[2026-04-13 20:55:59] UCB=2.2525 mu=0.6254 sigma=0.8136 params={'n_steer': 9, 'n_throttle': 3, 'learning_rate': 0.0010196345864901517, 'timesteps': 22035}
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[2026-04-13 20:55:59] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=50.0000 params={'n_steer': 5}
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[2026-04-13 20:55:59] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=80.0000 params={'n_steer': 7}
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[2026-04-13 20:55:59] [Champion] 🏆 NEW BEST! Trial 0: mean_reward=50.0000 params={'r': 50}
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[2026-04-13 20:55:59] [Champion] 🏆 NEW BEST! Trial 1: mean_reward=80.0000 params={'r': 80}
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[2026-04-13 20:55:59] [Champion] 🏆 NEW BEST! Trial 3: mean_reward=90.0000 params={'r': 90}
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[2026-04-13 20:55:59] [Champion] 🏆 NEW BEST! Trial 5: mean_reward=75.0000 params={'n_steer': 8}
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[2026-04-13 20:55:59] [AutoResearch] Only 1 results — using random proposal.
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@ -0,0 +1 @@
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{"trial": 1, "timestamp": "2026-04-13T20:05:03.791538", "params": {"n_steer": 4, "n_throttle": 3, "learning_rate": 0.0009737963906394612, "timesteps": 47325, "agent": "ppo", "eval_episodes": 5, "reward_shaping": true}, "mean_reward": 234.5386, "std_reward": 3.1547, "model_path": "/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/trial-0001/model.zip", "champion": false, "run_status": "ok", "elapsed_sec": 1908.32528758049, "reward_hacking_suspected": false}
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@ -1,42 +1,41 @@
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"""
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Progress-Based Reward Wrapper for DonkeyCar RL — v3 (Anti-Circular)
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Speed + Progress Reward Wrapper for DonkeyCar RL — v4 (Full Bypass)
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====================================================================
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PROBLEM HISTORY:
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v1 (additive): speed × (1 - cte/max_cte)
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→ Hacked by oscillating at track boundary (trials 8+13 in corrupted data)
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REWARD HACKING HISTORY:
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v1 additive: speed × (1-cte/max_cte) → boundary oscillation
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v2 multiplicative: original × (1+speed×scale) → circular driving (on-track)
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v3 path efficiency: original × (1+speed×eff×scale) → still circling!
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WHY v3 failed: efficiency killed the SPEED BONUS but not the BASE reward.
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A spinning car at CTE≈0 still earns 1.0/step × thousands of steps.
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v2 (multiplicative): original × (1 + speed_scale × speed)
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→ Still hacked by circling ON the track (trial 5: cv=0.0%, 4582 reward)
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→ Circular motion has low CTE + positive speed → full speed bonus
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→ Neither CTE nor raw speed can distinguish forward vs circular motion
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v4 (THIS VERSION): Completely bypass sim's reward. Multiply base reward by
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efficiency so circling yields ZERO reward regardless of CTE.
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v3 (path efficiency): original × (1 + speed_scale × speed × path_efficiency)
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→ Path efficiency = net_displacement / path_length over sliding window
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→ Forward driving: efficiency ≈ 1.0 (all movement is productive)
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→ Circular driving: efficiency ≈ 0.0 (movement cancels out, no net advance)
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→ Speed bonus disappears when circling → car incentivized to go FORWARD
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ROOT CAUSE OF CIRCLING:
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The sim's own calc_reward() uses `forward_vel` = dot(car_heading, velocity).
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A spinning car is ALWAYS moving "forward" relative to its own heading,
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so forward_vel > 0 always, giving positive reward while circling indefinitely.
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We bypass this entirely.
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FORMULA:
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efficiency = |pos_t - pos_{t-window}| / Σ|pos_i - pos_{i-1}|
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= net_displacement / total_path_length
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FORMULA (v4):
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base = 1.0 - min(abs(cte) / max_cte, 1.0) # CTE quality [0,1]
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eff = net_displacement / total_path_length # Forward progress [0,1]
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shaped = base × eff × (1 + speed_scale × speed) # All three must be high
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shaped_reward = original_reward × (1 + speed_scale × speed × efficiency)
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On done/crash: shaped = -1.0
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(when original_reward ≤ 0: no bonus, just penalty — same as v2)
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PROPERTIES:
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- Spinning (eff≈0): shaped ≈ 0 (no reward)
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- On track, slow (eff≈1): shaped ≈ base (CTE reward only)
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- On track, fast (eff≈1): shaped > base (CTE + speed bonus)
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- Off track (base≈0): shaped ≈ 0 (penalty via done)
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- Cannot be gamed: ALL THREE terms must be high simultaneously
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RESEARCH NOTE (2026-04-13):
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Circular driving discovered in Phase 1 despite v2 fix.
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Trial 5: mean_reward=4582, cv=0.0% over 4787 steps.
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User visually confirmed: car circling at start line.
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See docs/RESEARCH_LOG.md for full analysis.
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TUNING:
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window_size: how many steps to measure efficiency over (default 30)
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- Too small: noisy, sensitive to brief oscillations
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- Too large: slow to detect circling, may miss short circular segments
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speed_scale: speed bonus multiplier (default 0.1)
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min_efficiency: minimum efficiency before speed bonus disappears (default 0.1)
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v3 was insufficient — circling at start gave 1.0/step × 47k steps = 47k reward.
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v4 makes efficiency a multiplier on the entire reward, not just the speed bonus.
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See docs/RESEARCH_LOG.md for full hacking history.
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"""
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import gymnasium as gym
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@ -46,30 +45,37 @@ from collections import deque
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class SpeedRewardWrapper(gym.Wrapper):
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"""
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Path-efficiency-gated speed reward.
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Speed bonus only applies proportionally to how much the car is making NET FORWARD PROGRESS.
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Full reward bypass: base CTE reward × path efficiency × speed bonus.
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Completely ignores the sim's own reward (which uses forward_vel and is
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exploitable by circular/spinning motion).
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Args:
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env: gymnasium environment
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speed_scale: speed bonus multiplier (default 0.1)
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window_size: number of steps for efficiency measurement (default 30)
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min_efficiency: efficiency floor below which speed bonus is zero (default 0.05)
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env: gymnasium environment
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speed_scale: speed bonus multiplier (default 0.1)
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window_size: steps for efficiency calculation (default 30)
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min_efficiency: efficiency below which no reward (default 0.05)
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max_cte: track half-width for normalization (default 8.0, matches sim)
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"""
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def __init__(self, env, speed_scale: float = 0.1, window_size: int = 30, min_efficiency: float = 0.05):
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def __init__(
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self,
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env,
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speed_scale: float = 0.1,
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window_size: int = 30,
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min_efficiency: float = 0.05,
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max_cte: float = 8.0,
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):
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super().__init__(env)
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self.speed_scale = speed_scale
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self.window_size = window_size
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self.min_efficiency = min_efficiency
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# Sliding window of positions for efficiency calculation
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self.max_cte = max_cte
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self._pos_history = deque(maxlen=window_size + 1)
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self._path_length = 0.0
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def reset(self, **kwargs):
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result = self.env.reset(**kwargs)
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self._pos_history.clear()
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self._path_length = 0.0
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return result
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def step(self, action):
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@ -77,84 +83,76 @@ class SpeedRewardWrapper(gym.Wrapper):
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# Handle both 4-tuple (old gym) and 5-tuple (gymnasium) APIs
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if len(result) == 5:
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obs, reward, terminated, truncated, info = result
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obs, _sim_reward, terminated, truncated, info = result
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done = terminated or truncated
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elif len(result) == 4:
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obs, reward, done, info = result
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obs, _sim_reward, done, info = result
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terminated = done
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truncated = False
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else:
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raise ValueError(f'Unexpected step() result length: {len(result)}')
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shaped = self._shape_reward(reward, info)
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# Completely ignore _sim_reward — compute our own
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shaped = self._compute_reward(done, info)
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if len(result) == 5:
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return obs, shaped, terminated, truncated, info
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else:
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return obs, shaped, done, info
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def _get_pos(self, info: dict):
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"""Extract position from info dict. Returns None if unavailable."""
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pos = info.get('pos', None)
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if pos is None:
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return None
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try:
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return np.array(pos[:3], dtype=np.float64)
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except (TypeError, IndexError, ValueError):
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return None
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def _compute_efficiency(self) -> float:
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def _compute_reward(self, done: bool, info: dict) -> float:
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"""
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Compute path efficiency = net displacement / total path length over window.
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Returns 1.0 if insufficient history (can't penalize yet).
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Returns 0.0 if no movement.
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Compute reward from scratch using CTE × efficiency × speed.
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Bypasses sim's exploitable forward_vel-based reward.
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"""
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if len(self._pos_history) < 3:
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return 1.0 # Not enough history, give benefit of doubt
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# Crash / episode over
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if done:
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return -1.0
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positions = list(self._pos_history)
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# Net displacement: straight-line distance from oldest to newest position
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net_displacement = np.linalg.norm(positions[-1] - positions[0])
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# Total path length: sum of step-by-step distances
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total_path = sum(
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np.linalg.norm(positions[i+1] - positions[i])
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for i in range(len(positions) - 1)
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)
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if total_path < 1e-6:
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return 1.0 # Car not moving at all, don't penalize (will be caught by health check)
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return float(net_displacement / total_path)
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def _shape_reward(self, original_reward: float, info: dict) -> float:
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"""Apply path-efficiency-gated speed bonus."""
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# Update position history
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pos = self._get_pos(info)
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pos = info.get('pos', None)
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if pos is not None:
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self._pos_history.append(pos)
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try:
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self._pos_history.append(np.array(list(pos)[:3], dtype=np.float64))
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except (TypeError, ValueError):
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pass
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# Only apply speed bonus when genuinely on track (positive CTE reward)
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if original_reward <= 0:
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return original_reward # Off track / crashed — no speed reward
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# --- Base reward: purely CTE-based ---
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try:
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cte = float(info.get('cte', 0.0) or 0.0)
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except (TypeError, ValueError):
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cte = 0.0
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base = 1.0 - min(abs(cte) / self.max_cte, 1.0)
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# Extract speed
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# --- Path efficiency: detects circular motion ---
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efficiency = self._compute_efficiency()
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# Clamp: below min_efficiency → zero bonus
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eff = max(0.0, (efficiency - self.min_efficiency) / (1.0 - self.min_efficiency))
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# --- Speed: from info dict ---
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try:
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speed = max(0.0, float(info.get('speed', 0.0) or 0.0))
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except (TypeError, ValueError):
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return original_reward
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speed = 0.0
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# Compute path efficiency (detects circular motion)
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efficiency = self._compute_efficiency()
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# Clamp efficiency: below min_efficiency, no speed bonus
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effective_efficiency = max(0.0, (efficiency - self.min_efficiency) / (1.0 - self.min_efficiency))
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# Multiplicative bonus: fast forward progress → full bonus, circling → zero bonus
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shaped = original_reward * (1.0 + self.speed_scale * speed * effective_efficiency)
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# --- Combined reward: ALL three terms must be high ---
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# Circling: eff≈0 → reward≈0 regardless of CTE or speed
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shaped = base * eff * (1.0 + self.speed_scale * speed)
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return shaped
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def _compute_efficiency(self) -> float:
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"""Path efficiency = net_displacement / total_path_length."""
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if len(self._pos_history) < 3:
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return 1.0 # Insufficient history — give benefit of doubt
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positions = list(self._pos_history)
|
||||
net = np.linalg.norm(positions[-1] - positions[0])
|
||||
total = sum(
|
||||
np.linalg.norm(positions[i + 1] - positions[i])
|
||||
for i in range(len(positions) - 1)
|
||||
)
|
||||
return float(net / total) if total > 1e-6 else 1.0
|
||||
|
||||
def theoretical_max_per_step(self, max_speed: float = 10.0) -> float:
|
||||
"""Upper bound on reward per step (for hack detection calibration)."""
|
||||
return 1.0 * (1.0 + self.speed_scale * max_speed * 1.0) # efficiency=1 at best
|
||||
"""Upper bound on reward/step (efficiency=1, CTE=0, max speed)."""
|
||||
return 1.0 * 1.0 * (1.0 + self.speed_scale * max_speed)
|
||||
|
|
|
|||
|
|
@ -324,3 +324,42 @@ The path efficiency metric (96-100% throughout entire run) confirms the car is m
|
|||
### This is Research!
|
||||
|
||||
The reward hacking discovery and the progression from random walk → boundary oscillation → circular exploit → genuine driving represents real empirical RL research. Each failure mode revealed a fundamental property of reward design. The path efficiency fix was an original contribution to solving the circular driving problem without requiring track-shape knowledge.
|
||||
|
||||
---
|
||||
|
||||
## 2026-04-13 — Reward v4: Full Sim Bypass (base × efficiency × speed)
|
||||
|
||||
### Finding: v3 Still Allowed Circling — Base Reward Not Gated by Efficiency
|
||||
|
||||
**Observation (user):** Car turning left or right from start in Phase 2 runs (47k timestep trials).
|
||||
|
||||
**Root cause discovered in `donkey_sim.py`:**
|
||||
```python
|
||||
# sim's own reward (lines 478-498):
|
||||
if self.forward_vel > 0.0:
|
||||
return (1.0 - abs(cte)/max_cte) * self.forward_vel
|
||||
```
|
||||
`forward_vel` = dot(car_heading, velocity). A spinning car is **always** moving forward
|
||||
relative to its own heading → `forward_vel > 0` always → positive reward while spinning.
|
||||
|
||||
**Why v3 was insufficient:**
|
||||
- v3 multiplied the SPEED BONUS by efficiency: `original × (1 + scale × speed × eff)`
|
||||
- But `original` (from sim) was already exploitable: CTE≈0 while spinning → `original=1.0`
|
||||
- Efficiency killed the speed bonus but NOT the base reward
|
||||
- A spinning car at CTE=0: 1.0/step × 47k steps = 47k total reward (never crashes in circle!)
|
||||
|
||||
**Fix — v4 formula:**
|
||||
```
|
||||
reward = base_CTE × efficiency × (1 + speed_scale × speed)
|
||||
```
|
||||
Where `base_CTE = 1 - abs(cte)/max_cte` computed from info dict, completely bypassing the sim.
|
||||
|
||||
- Spinning (eff≈0): reward ≈ 0 regardless of CTE or speed ✅
|
||||
- Forward driving (eff≈1): reward = base × (1 + scale × speed) ✅
|
||||
- All three terms must be high simultaneously to earn reward ✅
|
||||
|
||||
**Key test added:** `test_circling_at_zero_cte_gives_near_zero_reward` — confirms the core
|
||||
v4 guarantee that the worst-case exploit (CTE=0 spinning) earns near-zero reward.
|
||||
|
||||
**The lesson:** When efficiency is only applied to the SPEED BONUS, the base reward from
|
||||
the sim can still be gamed. The efficiency multiplier must apply to the ENTIRE reward.
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@ import autoresearch_controller as ctrl
|
|||
|
||||
def test_param_encode_decode_roundtrip():
|
||||
"""encode → decode should reproduce original values (within int rounding)."""
|
||||
params = {'n_steer': 7, 'n_throttle': 3, 'learning_rate': 0.002, 'timesteps': 3000}
|
||||
params = {'n_steer': 7, 'n_throttle': 3, 'learning_rate': 0.002, 'timesteps': 25000}
|
||||
vec = ctrl.encode_params(params)
|
||||
recovered = ctrl.decode_params(vec)
|
||||
assert recovered['n_steer'] == params['n_steer']
|
||||
|
|
|
|||
|
|
@ -1,240 +1,233 @@
|
|||
"""
|
||||
Tests for reward_wrapper.py v3 (path efficiency / anti-circular) — no simulator required.
|
||||
Tests for reward_wrapper.py v4 (full sim bypass — base × efficiency × speed).
|
||||
"""
|
||||
|
||||
import sys
|
||||
import os
|
||||
import math
|
||||
import pytest
|
||||
import sys, os, math, pytest
|
||||
import numpy as np
|
||||
import gymnasium as gym
|
||||
from collections import deque
|
||||
|
||||
sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', 'agent'))
|
||||
|
||||
from reward_wrapper import SpeedRewardWrapper
|
||||
|
||||
|
||||
def make_env_with_pos(speed=2.0, original_reward=1.0, done=False, pos=(0.0, 0.0, 0.0)):
|
||||
"""Create a mock env that returns a specific position in info dict."""
|
||||
class PosEnv(gym.Env):
|
||||
metadata = {'render_modes': []}
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.action_space = gym.spaces.Discrete(5)
|
||||
self.observation_space = gym.spaces.Box(low=0, high=255, shape=(120, 160, 3), dtype=np.uint8)
|
||||
self._pos = list(pos)
|
||||
self._speed = speed
|
||||
self._reward = original_reward
|
||||
self._done = done
|
||||
# ---- Mock Environments ----
|
||||
|
||||
def set_pos(self, p):
|
||||
self._pos = list(p)
|
||||
class MockEnv(gym.Env):
|
||||
"""Configurable mock gymnasium.Env."""
|
||||
metadata = {'render_modes': []}
|
||||
|
||||
def reset(self, seed=None, **kwargs):
|
||||
return np.zeros((120, 160, 3), dtype=np.uint8), {}
|
||||
def __init__(self, speed=2.0, cte=0.0, pos=(0., 0., 0.), done=False, use_5tuple=True):
|
||||
super().__init__()
|
||||
self.action_space = gym.spaces.Discrete(5)
|
||||
self.observation_space = gym.spaces.Box(0, 255, (120, 160, 3), dtype=np.uint8)
|
||||
self._speed = speed
|
||||
self._cte = cte
|
||||
self._pos = list(pos)
|
||||
self._done = done
|
||||
self._use_5tuple = use_5tuple
|
||||
|
||||
def step(self, action):
|
||||
obs = np.zeros((120, 160, 3), dtype=np.uint8)
|
||||
info = {'speed': self._speed, 'pos': self._pos}
|
||||
return obs, self._reward, self._done, False, info
|
||||
def set_pos(self, p): self._pos = list(p)
|
||||
def set_cte(self, c): self._cte = c
|
||||
|
||||
def close(self):
|
||||
pass
|
||||
def reset(self, seed=None, **kwargs):
|
||||
return np.zeros((120, 160, 3), dtype=np.uint8), {}
|
||||
|
||||
return PosEnv()
|
||||
def step(self, action):
|
||||
obs = np.zeros((120, 160, 3), dtype=np.uint8)
|
||||
# Sim reward uses forward_vel (exploitable) — wrapper should IGNORE this
|
||||
sim_reward = 999.0 # Deliberately bogus — wrapper must not use this
|
||||
info = {'speed': self._speed, 'cte': self._cte, 'pos': self._pos}
|
||||
if self._use_5tuple:
|
||||
return obs, sim_reward, self._done, False, info
|
||||
return obs, sim_reward, self._done, info
|
||||
|
||||
def close(self): pass
|
||||
|
||||
|
||||
# ---- Core Anti-Hacking Tests (inherited from v2) ----
|
||||
def step_wrapped(wrapped_env, env, pos, cte=0.5, speed=2.0):
|
||||
env.set_pos(pos)
|
||||
env.set_cte(cte)
|
||||
env._speed = speed
|
||||
return wrapped_env.step(0)
|
||||
|
||||
def test_no_speed_bonus_when_off_track():
|
||||
"""Off-track reward (≤ 0) must NOT get a speed bonus regardless of efficiency."""
|
||||
env = make_env_with_pos(speed=10.0, original_reward=-1.0)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.5)
|
||||
|
||||
# ---- Core v4 Properties ----
|
||||
|
||||
def test_sim_reward_is_completely_ignored():
|
||||
"""
|
||||
The wrapper must NOT use the sim's reward (999.0).
|
||||
v4 computes reward from scratch using CTE/pos/speed only.
|
||||
"""
|
||||
env = MockEnv(speed=2.0, cte=0.5, pos=(0., 0., 0.))
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1)
|
||||
wrapped.reset()
|
||||
_, reward, _, _, _ = wrapped.step(0)
|
||||
assert reward == -1.0, f"Off-track reward must not get bonus, got {reward}"
|
||||
assert reward != 999.0, "Wrapper must not pass through sim's bogus reward"
|
||||
assert reward < 10.0, f"Reward should be small, got {reward}"
|
||||
|
||||
|
||||
def test_no_speed_bonus_when_reward_zero():
|
||||
"""Reward exactly 0 should not get speed bonus."""
|
||||
env = make_env_with_pos(speed=5.0, original_reward=0.0)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.5)
|
||||
wrapped.reset()
|
||||
_, reward, _, _, _ = wrapped.step(0)
|
||||
assert reward == 0.0, f"Zero reward should stay zero, got {reward}"
|
||||
|
||||
|
||||
# ---- Path Efficiency Tests ----
|
||||
|
||||
def _simulate_straight_driving(wrapped_env, env, steps=40, speed=3.0, step_size=0.1):
|
||||
"""Simulate straight-line driving: car moves forward by step_size each step."""
|
||||
wrapped_env.reset()
|
||||
rewards = []
|
||||
for i in range(steps):
|
||||
env.set_pos([i * step_size, 0.0, 0.0])
|
||||
env._speed = speed
|
||||
_, r, _, _, _ = wrapped_env.step(0)
|
||||
rewards.append(r)
|
||||
return rewards
|
||||
|
||||
|
||||
def _simulate_circular_driving(wrapped_env, env, steps=40, speed=3.0, radius=0.5):
|
||||
"""Simulate circular driving: car moves in a circle, returns to start."""
|
||||
wrapped_env.reset()
|
||||
rewards = []
|
||||
for i in range(steps):
|
||||
angle = 2 * math.pi * i / steps
|
||||
x = radius * math.cos(angle)
|
||||
z = radius * math.sin(angle)
|
||||
env.set_pos([x, 0.0, z])
|
||||
env._speed = speed
|
||||
_, r, _, _, _ = wrapped_env.step(0)
|
||||
rewards.append(r)
|
||||
return rewards
|
||||
|
||||
|
||||
def test_straight_driving_gets_higher_reward_than_circular():
|
||||
def test_circling_at_zero_cte_gives_near_zero_reward():
|
||||
"""
|
||||
CRITICAL: Straight driving must produce more total reward than circular driving
|
||||
at the same speed and base reward. This is the core anti-circular guarantee.
|
||||
CORE v4 GUARANTEE: A spinning car at CTE=0 must earn near-zero reward.
|
||||
v3 failed this: spinning at CTE=0 gave 1.0/step regardless of efficiency.
|
||||
v4 multiplies base reward by efficiency → circling yields ≈ 0.
|
||||
"""
|
||||
env_straight = make_env_with_pos(speed=3.0, original_reward=0.8)
|
||||
env_circular = make_env_with_pos(speed=3.0, original_reward=0.8)
|
||||
|
||||
wrapped_straight = SpeedRewardWrapper(env_straight, speed_scale=0.1, window_size=20)
|
||||
wrapped_circular = SpeedRewardWrapper(env_circular, speed_scale=0.1, window_size=20)
|
||||
|
||||
straight_rewards = _simulate_straight_driving(wrapped_straight, env_straight, steps=40)
|
||||
circular_rewards = _simulate_circular_driving(wrapped_circular, env_circular, steps=40)
|
||||
|
||||
# After warmup (window fills), straight should consistently beat circular
|
||||
straight_tail = sum(straight_rewards[20:])
|
||||
circular_tail = sum(circular_rewards[20:])
|
||||
|
||||
assert straight_tail > circular_tail, (
|
||||
f"Straight driving ({straight_tail:.2f}) should beat circular ({circular_tail:.2f})"
|
||||
)
|
||||
|
||||
|
||||
def test_efficiency_near_one_for_straight_driving():
|
||||
"""Path efficiency should be near 1.0 for straight-line motion."""
|
||||
env = make_env_with_pos(speed=3.0, original_reward=1.0)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1, window_size=10)
|
||||
wrapped.reset()
|
||||
|
||||
# Drive in a straight line
|
||||
for i in range(15):
|
||||
env.set_pos([i * 0.2, 0.0, 0.0])
|
||||
wrapped.step(0)
|
||||
|
||||
efficiency = wrapped._compute_efficiency()
|
||||
assert efficiency > 0.90, f"Straight driving efficiency should be >0.90, got {efficiency:.4f}"
|
||||
|
||||
|
||||
def test_efficiency_near_zero_for_circular_driving():
|
||||
"""Path efficiency should be near 0.0 for full circular motion."""
|
||||
env = make_env_with_pos(speed=3.0, original_reward=1.0)
|
||||
env = MockEnv(speed=3.0, cte=0.0)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1, window_size=20)
|
||||
wrapped.reset()
|
||||
|
||||
# Drive a full circle (returns to start position)
|
||||
radius = 1.0
|
||||
steps = 25 # More than window_size to fill it
|
||||
for i in range(steps):
|
||||
angle = 2 * math.pi * i / 24 # 24 steps = full circle
|
||||
x = radius * math.cos(angle)
|
||||
z = radius * math.sin(angle)
|
||||
env.set_pos([x, 0.0, z])
|
||||
wrapped.step(0)
|
||||
# Simulate full circles (returns to start position)
|
||||
radius = 0.5
|
||||
rewards = []
|
||||
for i in range(30):
|
||||
angle = 2 * math.pi * (i % 20) / 20
|
||||
env.set_pos([radius * math.cos(angle), 0., radius * math.sin(angle)])
|
||||
_, r, _, _, _ = wrapped.step(0)
|
||||
rewards.append(r)
|
||||
|
||||
efficiency = wrapped._compute_efficiency()
|
||||
assert efficiency < 0.2, f"Circular driving efficiency should be <0.2, got {efficiency:.4f}"
|
||||
# After window fills, rewards should be near zero (circling detected)
|
||||
late_rewards = rewards[20:]
|
||||
avg = sum(late_rewards) / len(late_rewards)
|
||||
assert avg < 0.15, f"Circling at CTE=0 should earn near-zero reward, got avg={avg:.4f}"
|
||||
|
||||
|
||||
def test_efficiency_one_with_no_pos_history():
|
||||
"""When position not available, efficiency should default to 1.0 (no penalty)."""
|
||||
class NoPosEnv(gym.Env):
|
||||
metadata = {'render_modes': []}
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
self.action_space = gym.spaces.Discrete(5)
|
||||
self.observation_space = gym.spaces.Box(low=0, high=255, shape=(120, 160, 3), dtype=np.uint8)
|
||||
def reset(self, seed=None, **kwargs):
|
||||
return np.zeros((120, 160, 3), dtype=np.uint8), {}
|
||||
def step(self, action):
|
||||
return np.zeros((120, 160, 3), dtype=np.uint8), 0.8, False, False, {'speed': 2.0} # No pos
|
||||
def close(self):
|
||||
pass
|
||||
def test_forward_driving_earns_positive_reward():
|
||||
"""Straight-line driving at low CTE earns a clear positive reward."""
|
||||
env = MockEnv(speed=2.0, cte=0.5)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1, window_size=10)
|
||||
wrapped.reset()
|
||||
|
||||
wrapped = SpeedRewardWrapper(NoPosEnv(), speed_scale=0.1)
|
||||
rewards = []
|
||||
for i in range(20):
|
||||
env.set_pos([i * 0.3, 0., 0.])
|
||||
_, r, _, _, _ = wrapped.step(0)
|
||||
rewards.append(r)
|
||||
|
||||
late = rewards[10:]
|
||||
avg = sum(late) / len(late)
|
||||
assert avg > 0.5, f"Forward driving should earn >0.5 reward, got {avg:.4f}"
|
||||
|
||||
|
||||
def test_forward_beats_circling_by_large_margin():
|
||||
"""
|
||||
Total reward over same number of steps:
|
||||
forward driving >> circling, even at CTE=0 for the circular car.
|
||||
"""
|
||||
env_fwd = MockEnv(speed=2.0, cte=0.5)
|
||||
env_circ = MockEnv(speed=2.0, cte=0.0) # CTE=0 is best case for circling
|
||||
|
||||
wrapped_fwd = SpeedRewardWrapper(env_fwd, speed_scale=0.1, window_size=20)
|
||||
wrapped_circ = SpeedRewardWrapper(env_circ, speed_scale=0.1, window_size=20)
|
||||
wrapped_fwd.reset()
|
||||
wrapped_circ.reset()
|
||||
|
||||
total_fwd, total_circ = 0.0, 0.0
|
||||
radius = 0.5
|
||||
for i in range(40):
|
||||
# Forward: moves in straight line
|
||||
env_fwd.set_pos([i * 0.3, 0., 0.])
|
||||
_, r, _, _, _ = wrapped_fwd.step(0)
|
||||
total_fwd += r
|
||||
|
||||
# Circular: perfect circles at CTE=0
|
||||
angle = 2 * math.pi * (i % 20) / 20
|
||||
env_circ.set_pos([radius * math.cos(angle), 0., radius * math.sin(angle)])
|
||||
_, r, _, _, _ = wrapped_circ.step(0)
|
||||
total_circ += r
|
||||
|
||||
assert total_fwd > total_circ * 3, (
|
||||
f"Forward ({total_fwd:.1f}) should beat circling ({total_circ:.1f}) by 3x"
|
||||
)
|
||||
|
||||
|
||||
def test_crash_gives_negative_reward():
|
||||
"""Episode termination (done=True) must always give -1.0."""
|
||||
env = MockEnv(speed=5.0, cte=0.0, done=True)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.2)
|
||||
wrapped.reset()
|
||||
_, reward, _, _, _ = wrapped.step(0)
|
||||
# Without pos, efficiency=1.0, so reward = 0.8 * (1 + 0.1*2*1.0) = 0.96
|
||||
assert reward > 0.8, f"Without pos, should get speed bonus (efficiency=1.0), got {reward}"
|
||||
assert reward == -1.0, f"Crash reward must be -1.0, got {reward}"
|
||||
|
||||
|
||||
def test_efficiency_resets_on_episode_reset():
|
||||
"""Position history should clear on reset, so each episode starts fresh."""
|
||||
env = make_env_with_pos(speed=3.0, original_reward=1.0)
|
||||
def test_high_cte_reduces_reward():
|
||||
"""Higher CTE should reduce reward (closer to track edge = lower base)."""
|
||||
env_low = MockEnv(speed=2.0, cte=0.5)
|
||||
env_high = MockEnv(speed=2.0, cte=4.0)
|
||||
|
||||
wrapped_low = SpeedRewardWrapper(env_low, speed_scale=0.1, window_size=5)
|
||||
wrapped_high = SpeedRewardWrapper(env_high, speed_scale=0.1, window_size=5)
|
||||
wrapped_low.reset()
|
||||
wrapped_high.reset()
|
||||
|
||||
# Drive straight so efficiency fills up
|
||||
for i in range(10):
|
||||
env_low.set_pos([i * 0.3, 0., 0.])
|
||||
env_high.set_pos([i * 0.3, 0., 0.])
|
||||
_, r_low, _, _, _ = wrapped_low.step(0)
|
||||
_, r_high, _, _, _ = wrapped_high.step(0)
|
||||
|
||||
assert r_low > r_high, f"Low CTE ({r_low:.3f}) should reward more than high CTE ({r_high:.3f})"
|
||||
|
||||
|
||||
def test_speed_bonus_increases_reward_when_on_track():
|
||||
"""Faster forward driving earns more reward than slower forward driving."""
|
||||
env_slow = MockEnv(speed=0.5, cte=1.0)
|
||||
env_fast = MockEnv(speed=3.0, cte=1.0)
|
||||
|
||||
wrapped_slow = SpeedRewardWrapper(env_slow, speed_scale=0.1, window_size=10)
|
||||
wrapped_fast = SpeedRewardWrapper(env_fast, speed_scale=0.1, window_size=10)
|
||||
wrapped_slow.reset()
|
||||
wrapped_fast.reset()
|
||||
|
||||
for i in range(15):
|
||||
env_slow.set_pos([i * 0.1, 0., 0.])
|
||||
env_fast.set_pos([i * 0.3, 0., 0.]) # Fast car covers more ground
|
||||
_, r_slow, _, _, _ = wrapped_slow.step(0)
|
||||
_, r_fast, _, _, _ = wrapped_fast.step(0)
|
||||
|
||||
assert r_fast > r_slow, f"Fast ({r_fast:.3f}) should earn more than slow ({r_slow:.3f})"
|
||||
|
||||
|
||||
def test_theoretical_max_per_step():
|
||||
"""Max reward/step = 1.0 × 1.0 × (1 + scale × max_speed) = 2.0 at scale=0.1, max=10."""
|
||||
env = MockEnv()
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1)
|
||||
assert wrapped.theoretical_max_per_step(max_speed=10.0) == pytest.approx(2.0, abs=1e-6)
|
||||
|
||||
|
||||
def test_4tuple_step_compatibility():
|
||||
"""Wrapper must handle 4-tuple step() return (old gym API)."""
|
||||
env = MockEnv(speed=2.0, cte=0.5, use_5tuple=False)
|
||||
env.set_pos([0., 0., 0.])
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1)
|
||||
wrapped.reset()
|
||||
result = wrapped.step(0)
|
||||
assert len(result) == 4, f"Expected 4-tuple, got {len(result)}"
|
||||
_, reward, done, info = result
|
||||
assert isinstance(reward, float)
|
||||
assert reward != 999.0, "Should not use sim reward"
|
||||
|
||||
|
||||
def test_reward_resets_on_episode_reset():
|
||||
"""After reset, position history clears so efficiency recalculates cleanly."""
|
||||
env = MockEnv(speed=2.0, cte=0.5)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1, window_size=10)
|
||||
wrapped.reset()
|
||||
|
||||
# Fill with circular data
|
||||
radius = 0.5
|
||||
for i in range(15):
|
||||
angle = 2 * math.pi * i / 12
|
||||
env.set_pos([radius * math.cos(angle), 0.0, radius * math.sin(angle)])
|
||||
env.set_pos([0.5 * math.cos(angle), 0., 0.5 * math.sin(angle)])
|
||||
wrapped.step(0)
|
||||
|
||||
eff_before_reset = wrapped._compute_efficiency()
|
||||
|
||||
# Reset and drive straight for a few steps
|
||||
# After reset, start fresh straight
|
||||
wrapped.reset()
|
||||
for i in range(3):
|
||||
env.set_pos([i * 0.3, 0.0, 0.0])
|
||||
wrapped.step(0)
|
||||
|
||||
eff_after_reset = wrapped._compute_efficiency()
|
||||
assert eff_after_reset > eff_before_reset, \
|
||||
f"After reset, efficiency should improve: before={eff_before_reset:.3f}, after={eff_after_reset:.3f}"
|
||||
|
||||
|
||||
def test_speed_bonus_disappears_when_circling():
|
||||
"""After circling for window_size steps, speed bonus should be nearly zero."""
|
||||
env = make_env_with_pos(speed=5.0, original_reward=1.0)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.5, window_size=20, min_efficiency=0.05)
|
||||
wrapped.reset()
|
||||
|
||||
# Warm up with circular motion
|
||||
radius = 0.5
|
||||
rewards = []
|
||||
for i in range(30):
|
||||
angle = 2 * math.pi * (i % 20) / 20 # Full circle every 20 steps
|
||||
env.set_pos([radius * math.cos(angle), 0.0, radius * math.sin(angle)])
|
||||
for i in range(5):
|
||||
env.set_pos([i * 0.3, 0., 0.])
|
||||
_, r, _, _, _ = wrapped.step(0)
|
||||
rewards.append(r)
|
||||
|
||||
# Later rewards (after window fills) should be close to original_reward
|
||||
later_rewards = rewards[20:]
|
||||
avg_later = sum(later_rewards) / len(later_rewards)
|
||||
assert avg_later < 1.3, \
|
||||
f"Circular driving speed bonus should be suppressed, avg reward={avg_later:.3f} (original=1.0)"
|
||||
|
||||
|
||||
# ---- Inherited guarantees ----
|
||||
|
||||
def test_crash_still_penalized():
|
||||
"""Crash (original_reward=-1) should remain -1 regardless of speed or efficiency."""
|
||||
env = make_env_with_pos(speed=8.0, original_reward=-1.0, done=True)
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.2)
|
||||
wrapped.reset()
|
||||
_, reward, _, _, _ = wrapped.step(0)
|
||||
assert reward == -1.0, f"Crash reward should remain -1.0, got {reward}"
|
||||
|
||||
|
||||
def test_theoretical_max_per_step():
|
||||
"""Max reward/step bounded: original(1.0) × (1 + speed_scale × max_speed)."""
|
||||
env = make_env_with_pos()
|
||||
wrapped = SpeedRewardWrapper(env, speed_scale=0.1)
|
||||
assert wrapped.theoretical_max_per_step(max_speed=10.0) == pytest.approx(2.0, abs=1e-6)
|
||||
# Should get reasonable reward after fresh start
|
||||
assert rewards[-1] > 0, "Should get positive reward after reset and straight driving"
|
||||
|
|
|
|||
Loading…
Reference in New Issue