donkeycar-rl-autoresearch

Commit Graph

Author	SHA1	Message	Date
Paul Huliganga	86657a26b8	wave3: fix track-switch bug (viewer not raw socket) + shorten trial budgets Bug: send_exit_scene_raw() opened a NEW TCP connection, creating a second phantom vehicle. The sim sent exit_scene to the phantom, leaving the real training connection stuck on generated_road for the entire run. Fix: _send_exit_scene() now calls env.unwrapped.viewer.exit_scene() on the EXISTING TCP connection that the training env already holds. This is the only reliable way to switch scenes mid-session (matches track_switcher.py). Also: - Removed send_exit_scene_raw() import from multitrack_runner.py - Simplified initial connection (no spurious exit_scene at startup) - Reduced search space: total_timesteps 80k-400k -> 30k-150k - Reduced seed params: 150k/300k -> 45k/90k (~35-45 min per trial) - Added test: test_close_and_switch_uses_viewer_not_raw_socket 83 tests passing Agent: pi Tests: 83 passed Tests-Added: 1 TypeScript: N/A	2026-04-14 13:29:49 -04:00
Paul Huliganga	4ca5304a71	wave3: add multi-track autoresearch system (83 tests passing) New files: - agent/multitrack_runner.py: trains PPO round-robin across generated_road, generated_track, mountain_track; zero-shot evaluates on mini_monaco + warren - agent/wave3_controller.py: GP+UCB outer loop optimising combined test score - tests/test_wave3.py: 30 new tests (83 total) Track classification (from visual analysis of all 10 screenshots): Training : generated_road, generated_track, mountain_track Test (ZSL): mini_monaco, warren (pseudo-outdoor — proper road markings) Skip : warehouse, robo_racing_league, waveshare, circuit_launch (indoor floor) avc_sparkfun (orange markings — different visual domain) Key design decisions: ADR-010: Warren = pseudo-outdoor track (proper road lines, not floor marks) ADR-011: Test tracks NEVER used in training; GP optimises test score only ADR-012: All trials warm-start from Phase 2 champion model Switching: env.close() + send_exit_scene_raw() + 4s wait + gym.make() Pre-Wave-3 baseline: 1/10 tracks drivable (0/2 held-out test tracks) Wave 3 goal: 2/2 test tracks drivable (mini_monaco + warren) Agent: pi Tests: 83 passed Tests-Added: 30 TypeScript: N/A	2026-04-14 12:47:12 -04:00

Author

SHA1

Message

Date

Paul Huliganga

86657a26b8

wave3: fix track-switch bug (viewer not raw socket) + shorten trial budgets

Bug: send_exit_scene_raw() opened a NEW TCP connection, creating a second
phantom vehicle. The sim sent exit_scene to the phantom, leaving the real
training connection stuck on generated_road for the entire run.

Fix: _send_exit_scene() now calls env.unwrapped.viewer.exit_scene() on the
EXISTING TCP connection that the training env already holds. This is the
only reliable way to switch scenes mid-session (matches track_switcher.py).

Also:
- Removed send_exit_scene_raw() import from multitrack_runner.py
- Simplified initial connection (no spurious exit_scene at startup)
- Reduced search space: total_timesteps 80k-400k -> 30k-150k
- Reduced seed params: 150k/300k -> 45k/90k (~35-45 min per trial)
- Added test: test_close_and_switch_uses_viewer_not_raw_socket

83 tests passing

Agent: pi
Tests: 83 passed
Tests-Added: 1
TypeScript: N/A

2026-04-14 13:29:49 -04:00

Paul Huliganga

4ca5304a71

wave3: add multi-track autoresearch system (83 tests passing)

New files:
- agent/multitrack_runner.py: trains PPO round-robin across generated_road,
  generated_track, mountain_track; zero-shot evaluates on mini_monaco + warren
- agent/wave3_controller.py: GP+UCB outer loop optimising combined test score
- tests/test_wave3.py: 30 new tests (83 total)

Track classification (from visual analysis of all 10 screenshots):
  Training  : generated_road, generated_track, mountain_track
  Test (ZSL): mini_monaco, warren (pseudo-outdoor — proper road markings)
  Skip      : warehouse, robo_racing_league, waveshare, circuit_launch (indoor floor)
              avc_sparkfun (orange markings — different visual domain)

Key design decisions:
  ADR-010: Warren = pseudo-outdoor track (proper road lines, not floor marks)
  ADR-011: Test tracks NEVER used in training; GP optimises test score only
  ADR-012: All trials warm-start from Phase 2 champion model
  Switching: env.close() + send_exit_scene_raw() + 4s wait + gym.make()

Pre-Wave-3 baseline: 1/10 tracks drivable (0/2 held-out test tracks)
Wave 3 goal: 2/2 test tracks drivable (mini_monaco + warren)

Agent: pi
Tests: 83 passed
Tests-Added: 30
TypeScript: N/A

2026-04-14 12:47:12 -04:00

2 Commits