[14:09:34] ============================================================
[14:09:34] Exp 27: fresh weights | truly random roads | variable throttle
[14:09:34]   Sim: localhost:9091 → donkey-generated-roads-v0
[14:09:34]   Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
[14:09:34]   LR=0.0003, ent_coef=0.05, n_steps=1024
[14:09:34]   Total=500,000 steps, checkpoint every 10,000
[14:09:34]   CTE term: >2.0m for >0.5s
[14:09:34]   Speed term: <1.0 for >1.5s
[14:09:34]   Episode cap: 30.0s | Road regen: random seed each checkpoint
[14:09:34]   BrakeOnUpdateCallback: enabled
[14:09:34] ============================================================
[14:09:34] Connecting to sim...