[11:31:18] ============================================================
[11:31:18] Exp 27: fresh weights | truly random roads | variable throttle
[11:31:18]   Sim: localhost:9091 → donkey-generated-roads-v0
[11:31:18]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
[11:31:18]   LR=0.0003, ent_coef=0.05, n_steps=1024
[11:31:18]   Total=500,000 steps, checkpoint every 10,000
[11:31:18]   CTE term: >2.0m for >0.5s
[11:31:18]   Speed term: <1.0 for >1.5s
[11:31:18]   Episode cap: 30.0s | Road regen: random seed each checkpoint
[11:31:18]   BrakeOnUpdateCallback: enabled
[11:31:18] ============================================================
[11:31:18] Connecting to sim...
[11:31:18]   Connected. obs=(3, 120, 160), action=Discrete(21)
[11:31:18]   Initial road regen (seed=93502)...
[11:31:21]   Road ready.
[11:31:21] Creating fresh PPO model (no warm start)...
[11:31:24]   Model created. Action space: 21 discrete actions
[11:31:24] Exp 27 started — PID 1038769
[11:31:24] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads/run_2026-05-06_113118_random_roads.log
[11:46:09] [10,000/500,000] Checkpoint saved
[11:46:09]   Regenerating road (seed=42649)...
[11:46:12]   Road ready.
[11:46:15]   Eval (seed=42649): -0.3r/19s ❌@19
[11:46:15]   NEW BEST: steps=19 reward=-0.3
[11:54:27] [20,000/500,000] Checkpoint saved
[11:54:27]   Regenerating road (seed=77345)...
[11:54:30]   Road ready.
[11:54:56]   Eval (seed=77345): 376.1r/2000s ✅
[11:54:57]   NEW BEST: steps=2000 reward=376.1
[12:00:59] [30,000/500,000] Checkpoint saved
[12:00:59]   Regenerating road (seed=78734)...
[12:01:02]   Road ready.
[12:01:21]   Eval (seed=78734): 373.2r/1343s ❌@1343
[12:07:22] [40,000/500,000] Checkpoint saved
[12:07:22]   Regenerating road (seed=11684)...
[12:07:25]   Road ready.
[12:07:45]   Eval (seed=11684): 426.2r/1439s ❌@1439
[12:13:34] [50,000/500,000] Checkpoint saved
[12:13:34]   Regenerating road (seed=10443)...
[12:13:37]   Road ready.
[12:13:41]   Eval (seed=10443): 40.2r/148s ❌@148
[12:20:30] [60,000/500,000] Checkpoint saved
[12:20:30]   Regenerating road (seed=80972)...
[12:20:33]   Road ready.
[12:20:44]   Eval (seed=80972): 191.4r/692s ❌@692
[12:28:53] [70,000/500,000] Checkpoint saved
[12:28:53]   Regenerating road (seed=94871)...
[12:28:56]   Road ready.
[12:29:02]   Eval (seed=94871): 77.6r/307s ❌@307
[12:36:13] [80,000/500,000] Checkpoint saved
[12:36:13]   Regenerating road (seed=95951)...
[12:36:16]   Road ready.
[12:36:31]   Eval (seed=95951): 287.5r/1028s ❌@1028
[12:44:31] [90,000/500,000] Checkpoint saved
[12:44:31]   Regenerating road (seed=11746)...
[12:44:34]   Road ready.
[12:44:41]   Eval (seed=11746): 74.4r/326s ❌@326
[12:53:25] [100,000/500,000] Checkpoint saved
[12:53:25]   Regenerating road (seed=91868)...
[12:53:28]   Road ready.
[12:53:34]   Eval (seed=91868): 81.3r/309s ❌@309
[13:01:22] [110,000/500,000] Checkpoint saved
[13:01:22]   Regenerating road (seed=29423)...
[13:01:25]   Road ready.
[13:01:31]   Eval (seed=29423): 71.7r/290s ❌@290
[13:08:34] [120,000/500,000] Checkpoint saved
[13:08:34]   Regenerating road (seed=36897)...
[13:08:37]   Road ready.
[13:08:43]   Eval (seed=36897): 60.6r/257s ❌@257
[13:15:45] [130,000/500,000] Checkpoint saved
[13:15:45]   Regenerating road (seed=73069)...
[13:15:48]   Road ready.
[13:15:54]   Eval (seed=73069): 67.5r/262s ❌@262