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>
- exp17_parallel_450k.py: parallel two-track training (generated_track:9091,
mountain_track:9093), 450k steps, v6 reward, HOST=localhost
- DECISIONS.md: ADR-025 (parallel strategy) and ADR-026 (mountain friction fix)
- docs/STATE.md: updated to April 2026 state with current champions and strategy
- docs/TEST_HISTORY.md: mountain friction fix notes + Exp 17 full design
- outerloop-results: exp14 finetune logs and robust mountain eval results
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Scripts in /tmp are lost on reboot and not reproducible.
All experiment scripts now committed to git with README.
Exp5 script was already gone (lost before this fix).
All others (Exp6-Exp10, overnight, wave5, etc.) now preserved.
Rule going forward: scripts saved to agent/experiments/ and committed
BEFORE running, not after.
Agent: pi
Tests: 102 passed
Tests-Added: 0
TypeScript: N/A
Paul Huliganga