[22:55:59] ============================================================
[22:55:59] Exp 29 started — PID 1263940
[22:55:59] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log
[22:55:59] Warm start: wave4-trial-0009  |  LR=5e-05
[22:55:59] Track: donkey-generated-track-v0  |  continuous actions
[22:55:59] ============================================================
[23:00:17] [5,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0005000.zip
[23:00:17]   Reconnecting for fresh track layout...
[23:00:28]   Eval: gentrack=34.4r/279s ❌@279
[23:00:28]   NEW BEST: steps=279 reward=34.4
[23:04:32] [10,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0010000.zip
[23:04:32]   Reconnecting for fresh track layout...
[23:04:45]   Eval: gentrack=63.4r/463s ❌@463
[23:04:45]   NEW BEST: steps=463 reward=63.4
[23:08:46] [15,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0015000.zip
[23:08:46]   Reconnecting for fresh track layout...
[23:08:57]   Eval: gentrack=33.1r/268s ❌@268
[23:12:32] [20,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0020000.zip
[23:12:32]   Reconnecting for fresh track layout...
[23:12:45]   Eval: gentrack=62.4r/450s ❌@450
[23:16:11] [25,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0025000.zip
[23:16:11]   Reconnecting for fresh track layout...
[23:16:35]   Eval: gentrack=203.3r/1317s ❌@1317
[23:16:35]   NEW BEST: steps=1317 reward=203.3
[23:19:47] [30,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0030000.zip
[23:19:47]   Reconnecting for fresh track layout...
[23:20:00]   Eval: gentrack=64.0r/440s ❌@440
[23:23:34] [35,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0035000.zip
[23:23:34]   Reconnecting for fresh track layout...
[23:24:06]   Eval: gentrack=323.8r/2000s ✅
[23:24:06]   NEW BEST: steps=2000 reward=323.8
[23:27:59] [40,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0040000.zip
[23:27:59]   Reconnecting for fresh track layout...
[23:28:12]   Eval: gentrack=64.0r/450s ❌@450
[23:32:20] [45,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0045000.zip
[23:32:20]   Reconnecting for fresh track layout...
[23:32:40]   Eval: gentrack=159.5r/1024s ❌@1024
[23:36:23] [50,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0050000.zip
[23:36:23]   Reconnecting for fresh track layout...
[23:36:37]   Eval: gentrack=64.5r/440s ❌@440
[23:36:37] Training complete.
[23:36:37] 
[23:36:37] ============================================================
[23:36:37] ZERO-SHOT EVAL: best_model on donkey-minimonaco-track-v0
[23:36:37] ============================================================
[23:36:58]   ep1: 158.8r / 999s  ❌ hit=none@999
[23:37:05]   ep2: 46.7r / 338s  ❌ hit=right_barrier_seg0@338
[23:37:23]   ep3: 206.2r / 1286s  ❌ hit=none@1286
[23:37:33]   ep4: 63.8r / 444s  ❌ hit=right_barrier_seg56@444
[23:37:46]   ep5: 108.0r / 700s  ❌ hit=right_barrier_seg49@700
[23:37:46]   Mean: 753 steps / 116.7 reward
[23:37:46]   ✅ GENERALIZES
[23:37:46] 
[23:37:46] Exp 29 complete.
[23:37:46] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log