Paul Huliganga
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dbc09d12d1
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fix(stuck): add CTE-based termination + tighten speed check
StuckTerminationWrapper: new max_cte/max_high_cte_seconds params.
If |cte| > threshold for 1s → terminate. Catches car pressed sideways
against barrier (lateral drift keeps speed/position checks alive).
exp25 params: cte_threshold=3.0m (road half-width), speed_threshold=1.0
(was 0.5 — now catches slow lateral drift), max_low_speed=1.5s (was 2.0s).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-05-05 23:13:44 -04:00 |
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Paul Huliganga
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f784fdebd1
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feat(exp25): wheel OverlapSphere collision fix + auto-transition
Car.cs (sdsandbox): per-wheel OverlapSphereNonAlloc in FixedUpdate catches barrier
contact from any angle, any throttle — forward raycast only covered nose-first.
Built, rsync'd, sim restart pending exp24 completion.
exp25 script: identical to exp24 params, fresh weights, patched Unity binary.
Auto-transition monitor armed: kills sim, restarts with new binary, launches exp25
when exp24 finishes (~22:00 EST).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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2026-05-05 20:28:31 -04:00 |