[2026-04-14 12:44:38] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 12:44:38] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 12:44:38] [Wave3] Only 0 results — using random proposal.
[2026-04-14 12:44:38] [Champion] 🏆 NEW BEST! Trial 3: combined=1500.00 (mini_monaco=900.0, warren=600.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 12:44:38] [Champion] 🏆 NEW BEST! Trial 1: combined=2000.00 (mini_monaco=1200.0, warren=800.0) params={}
[2026-04-14 12:45:00] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 12:45:00] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 12:45:00] [Wave3] Only 0 results — using random proposal.
[2026-04-14 12:45:00] [Champion] 🏆 NEW BEST! Trial 3: combined=1500.00 (mini_monaco=900.0, warren=600.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 12:45:00] [Champion] 🏆 NEW BEST! Trial 1: combined=2000.00 (mini_monaco=1200.0, warren=800.0) params={}
[2026-04-14 12:45:27] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 12:45:27] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 12:45:27] [Wave3] Only 0 results — using random proposal.
[2026-04-14 12:45:27] [Champion] 🏆 NEW BEST! Trial 3: combined=1500.00 (mini_monaco=900.0, warren=600.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 12:45:27] [Champion] 🏆 NEW BEST! Trial 1: combined=2000.00 (mini_monaco=1200.0, warren=800.0) params={}
[2026-04-14 12:45:39] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 12:45:39] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 12:45:39] [Wave3] Only 0 results — using random proposal.
[2026-04-14 12:45:39] [Champion] 🏆 NEW BEST! Trial 3: combined=1500.00 (mini_monaco=900.0, warren=600.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 12:45:39] [Champion] 🏆 NEW BEST! Trial 1: combined=2000.00 (mini_monaco=1200.0, warren=800.0) params={}
[2026-04-14 12:47:25] =================================================================
[2026-04-14 12:47:25] [Wave3] Multi-Track Autoresearch — GP+UCB Generalization Search
[2026-04-14 12:47:25] [Wave3] Training tracks : generated_road, generated_track, mountain_track
[2026-04-14 12:47:25] [Wave3] Test tracks     : mini_monaco, warren (zero-shot)
[2026-04-14 12:47:25] [Wave3] Max trials      : 25 | kappa=2.0 | push every 5
[2026-04-14 12:47:25] [Wave3] Results file    : /home/paulh/projects/donkeycar-rl-autoresearch/agent/outerloop-results/autoresearch_results_phase3.jsonl
[2026-04-14 12:47:25] [Wave3] Champion dir    : /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-champion
[2026-04-14 12:47:25] [Wave3] Warm start      : /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 12:47:25] =================================================================
[2026-04-14 12:47:25] [Wave3] Loaded 0 existing Phase 3 results.
[2026-04-14 12:47:25] [Wave3] No Wave 3 champion yet.
[2026-04-14 12:47:25] [Wave3] Starting from trial 1.
[2026-04-14 12:47:25] 
[Wave3] ========== Trial 1/25 ==========
[2026-04-14 12:47:25] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 12:47:25] [Wave3] Proposed params: {'learning_rate': 0.000225, 'steps_per_switch': 10000, 'total_timesteps': 150000}
[2026-04-14 12:47:27] [Wave3] Launching trial 1: {'learning_rate': 0.000225, 'steps_per_switch': 10000, 'total_timesteps': 150000}
[2026-04-14 12:47:27] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 150000 --steps-per-switch 10000 --learning-rate 0.000225 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0001 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 13:28:47] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 13:28:47] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 13:28:47] [Wave3] Only 0 results — using random proposal.
[2026-04-14 13:28:47] [Champion] 🏆 NEW BEST! Trial 3: combined=1500.00 (mini_monaco=900.0, warren=600.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 13:28:47] [Champion] 🏆 NEW BEST! Trial 1: combined=2000.00 (mini_monaco=1200.0, warren=800.0) params={}
[2026-04-14 13:29:08] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 13:29:08] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 13:29:08] [Wave3] Only 0 results — using random proposal.
[2026-04-14 13:29:08] [Champion] 🏆 NEW BEST! Trial 3: combined=1500.00 (mini_monaco=900.0, warren=600.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 13:29:08] [Champion] 🏆 NEW BEST! Trial 1: combined=2000.00 (mini_monaco=1200.0, warren=800.0) params={}
[2026-04-14 13:29:34] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 13:29:34] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 13:29:34] [Wave3] Only 0 results — using random proposal.
[2026-04-14 13:29:34] [Champion] 🏆 NEW BEST! Trial 3: combined=1500.00 (mini_monaco=900.0, warren=600.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 13:29:34] [Champion] 🏆 NEW BEST! Trial 1: combined=2000.00 (mini_monaco=1200.0, warren=800.0) params={}
[2026-04-14 13:36:58] =================================================================
[2026-04-14 13:36:58] [Wave3] Multi-Track Autoresearch — GP+UCB Generalization Search
[2026-04-14 13:36:58] [Wave3] Training tracks : generated_road, generated_track, mountain_track
[2026-04-14 13:36:58] [Wave3] Test tracks     : mini_monaco, warren (zero-shot)
[2026-04-14 13:36:58] [Wave3] Max trials      : 25 | kappa=2.0 | push every 5
[2026-04-14 13:36:58] [Wave3] Results file    : /home/paulh/projects/donkeycar-rl-autoresearch/agent/outerloop-results/autoresearch_results_phase3.jsonl
[2026-04-14 13:36:58] [Wave3] Champion dir    : /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-champion
[2026-04-14 13:36:58] [Wave3] Warm start      : /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 13:36:58] =================================================================
[2026-04-14 13:36:58] [Wave3] Loaded 0 existing Phase 3 results.
[2026-04-14 13:36:58] [Wave3] No Wave 3 champion yet.
[2026-04-14 13:36:58] [Wave3] Starting from trial 1.
[2026-04-14 13:36:58] 
[Wave3] ========== Trial 1/25 ==========
[2026-04-14 13:36:58] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 13:36:58] [Wave3] Proposed params: {'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 13:37:00] [Wave3] Launching trial 1: {'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 13:37:00] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 45000 --steps-per-switch 5000 --learning-rate 0.000225 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0001 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 13:47:17] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 13:47:17] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 13:47:17] [Wave3] Only 0 results — using random proposal.
[2026-04-14 13:47:17] [Champion] 🏆 NEW BEST! Trial 3: score=1500.00 (mini_monaco=1500.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 13:47:17] [Champion] 🏆 NEW BEST! Trial 1: score=2000.00 (mini_monaco=2000.0) params={}
[2026-04-14 13:47:34] =================================================================
[2026-04-14 13:47:34] [Wave3] Multi-Track Autoresearch — GP+UCB Generalization Search
[2026-04-14 13:47:34] [Wave3] Training tracks : generated_road, generated_track, mountain_track
[2026-04-14 13:47:34] [Wave3] Test tracks     : mini_monaco only (zero-shot; warren removed — broken done condition)
[2026-04-14 13:47:34] [Wave3] Max trials      : 25 | kappa=2.0 | push every 5
[2026-04-14 13:47:34] [Wave3] Results file    : /home/paulh/projects/donkeycar-rl-autoresearch/agent/outerloop-results/autoresearch_results_phase3.jsonl
[2026-04-14 13:47:34] [Wave3] Champion dir    : /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-champion
[2026-04-14 13:47:34] [Wave3] Warm start      : /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 13:47:34] =================================================================
[2026-04-14 13:47:34] [Wave3] Loaded 0 existing Phase 3 results.
[2026-04-14 13:47:34] [Wave3] No Wave 3 champion yet.
[2026-04-14 13:47:34] [Wave3] Starting from trial 1.
[2026-04-14 13:47:34] 
[Wave3] ========== Trial 1/25 ==========
[2026-04-14 13:47:34] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 13:47:34] [Wave3] Proposed params: {'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 13:47:36] [Wave3] Launching trial 1: {'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 13:47:36] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 45000 --steps-per-switch 5000 --learning-rate 0.000225 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0001 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 14:34:25] [Wave3] Trial 1 finished in 2808.7s, rc=0
[2026-04-14 14:34:25] [Wave3] Parsed: combined=24.7695 mini_monaco=24.7695
[2026-04-14 14:34:25] [Champion] 🏆 NEW BEST! Trial 1: score=24.77 (mini_monaco=24.8) params={'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 14:34:25] [Wave3] ===== Trial 1 Summary =====
[2026-04-14 14:34:25]   GP data points : 1
[2026-04-14 14:34:25]   Wave3 Champion: trial=1 score=24.77 params={'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 14:34:25]   Top 5:
[2026-04-14 14:34:25]     score=24.77  params={'learning_rate': 0.000225, 'steps_per_switch': 5000, 'total_timesteps': 45000}
[2026-04-14 14:34:27] 
[Wave3] ========== Trial 2/25 ==========
[2026-04-14 14:34:27] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 14:34:27] [Wave3] Proposed params: {'learning_rate': 0.000225, 'steps_per_switch': 10000, 'total_timesteps': 90000}
[2026-04-14 14:34:29] [Wave3] Launching trial 2: {'learning_rate': 0.000225, 'steps_per_switch': 10000, 'total_timesteps': 90000}
[2026-04-14 14:34:29] [Wave3] Command: python3 /home/paulh/projects/donkeycar-rl-autoresearch/agent/multitrack_runner.py --total-timesteps 90000 --steps-per-switch 10000 --learning-rate 0.000225 --eval-episodes 3 --save-dir /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave3-trial-0002 --warm-start /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[2026-04-14 15:12:53] [Wave3] Seed trial 1/2: using hardcoded params.
[2026-04-14 15:12:53] [Wave3] Seed trial 2/2: using hardcoded params.
[2026-04-14 15:12:53] [Wave3] Only 0 results — using random proposal.
[2026-04-14 15:12:53] [Champion] 🏆 NEW BEST! Trial 3: score=1500.00 (mini_monaco=1500.0) params={'learning_rate': 0.0002, 'steps_per_switch': 8000, 'total_timesteps': 150000}
[2026-04-14 15:12:53] [Champion] 🏆 NEW BEST! Trial 1: score=2000.00 (mini_monaco=2000.0) params={}