v5 dropped the efficiency term to get gradient signal on hills, but this
re-enabled circular driving (observed in Exp 11). v6 adds efficiency back
as a GATE (not multiplier): if efficiency < 0.15, reward = 0. Otherwise
reward = speed × CTE_quality (same as v5).
Gate vs multiplier: v4 used efficiency as a multiplier which killed gradient
on hills (all terms → 0 simultaneously). v6's gate passes when efficiency
is above threshold (car moving forward, even slowly on hill) and only
blocks when car is truly circling.
Also reduced stuck_steps from 80 to 40 (~2.5s vs ~5s) — user reported
car stuck against barriers for ~10s which is too long with DummyVecEnv.
Every test run now saves to agent/test-results/YYYY-MM-DD_HH-MM_<model>.log
so results are never lost. Also added 3-set Exp9 eval results to TEST_HISTORY.
Usage:
python3 agent/run_eval.py --model models/exp9-.../best_model.zip --sets 3
Agent: pi
Tests: 102 passed
Tests-Added: 0
TypeScript: N/A
Paul Huliganga