StuckTerminationWrapper wall-clock timer was resettable by barrier-sliding:
car drifting 0.5m along a wall repeatedly resets the 12s timer. At low sim
fps (1-2fps when both cars stuck), 40-step check also takes minutes.
Fix: added max_episode_seconds=30 — hard wall-clock limit per episode,
independent of position or sim fps. No episode can run longer than 30s.
Also adds monitor_training.sh: independent shell process that checks every
5 minutes and appends status to /tmp/training_monitor.log — works without
Claude being active.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Paul Huliganga