Exp 17 post-mortem: efficiency gate window=30 steps only covers ~40% of a
3.5s exploit circle at 22fps, giving partial-arc efficiency ~0.77 (gate fires
at 0.15). Car earned positive reward while circling, outweighing the -10
lap penalty. Performance peaked at 80k then collapsed.
Exp 18 fixes:
- window_size 30→200: covers 2+ full exploit circles, driving efficiency→0
- min_lap_time 5s→12s: genuine laps are 13-16s (gentrack) and 27-29s (mountain);
anything under 12s is an exploit and terminates immediately
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Paul Huliganga