[13:37:03] ============================================================
[13:37:03] Exp 27: fresh weights | truly random roads | variable throttle
[13:37:03]   Sim: localhost:9091 → donkey-generated-roads-v0
[13:37:03]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
[13:37:03]   LR=0.0003, ent_coef=0.05, n_steps=1024
[13:37:03]   Total=500,000 steps, checkpoint every 10,000
[13:37:03]   CTE term: >2.0m for >0.5s
[13:37:03]   Speed term: <1.0 for >1.5s
[13:37:03]   Episode cap: 30.0s | Road regen: random seed each checkpoint
[13:37:03]   BrakeOnUpdateCallback: enabled
[13:37:03] ============================================================
[13:37:03] Connecting to sim...
[13:37:04]   Connected. obs=(3, 120, 160), action=Discrete(21)
[13:37:04]   Initial road regen (seed=81035)...
[13:37:07]   Road ready.
[13:37:07] Creating fresh PPO model (no warm start)...
[13:37:08]   Model created. Action space: 21 discrete actions
[13:37:08] Exp 27 started — PID 1082126
[13:37:08] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads/run_2026-05-06_133703_random_roads.log
[13:45:35] [10,000/500,000] Checkpoint saved
[13:45:35]   Regenerating road (seed=68546)...
[13:45:38]   Road ready.
[13:45:42]   Eval (seed=68546): 39.0r/145s ❌@145
[13:45:43]   NEW BEST: steps=145 reward=39.0
[13:52:28] [20,000/500,000] Checkpoint saved
[13:52:28]   Regenerating road (seed=35735)...
[13:52:31]   Road ready.
[13:52:36]   Eval (seed=35735): 71.6r/230s ❌@230
[13:52:37]   NEW BEST: steps=230 reward=71.6
[13:58:59] [30,000/500,000] Checkpoint saved
[13:58:59]   Regenerating road (seed=98061)...
[13:59:02]   Road ready.
[13:59:06]   Eval (seed=98061): 39.2r/139s ❌@139
[14:07:08] [40,000/500,000] Checkpoint saved
[14:07:08]   Regenerating road (seed=2167)...
[14:07:11]   Road ready.
[14:07:16]   Eval (seed=2167): 33.9r/148s ❌@148