[14:13:28] ============================================================ [14:13:28] Exp 27: fresh weights | truly random roads | variable throttle [14:13:28] Sim: localhost:9091 → donkey-generated-roads-v0 [14:13:28] Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0] [14:13:28] LR=0.0003, ent_coef=0.05, n_steps=1024 [14:13:28] Total=500,000 steps, checkpoint every 10,000 [14:13:28] CTE term: >2.0m for >0.5s [14:13:28] Speed term: <1.0 for >1.5s [14:13:28] Episode cap: 30.0s | Road regen: random seed each checkpoint [14:13:28] BrakeOnUpdateCallback: enabled [14:13:28] ============================================================ [14:13:28] Connecting to sim... [14:13:29] Connected. obs=(3, 120, 160), action=Discrete(21) [14:13:29] Initial road regen (seed=89942)... [14:13:32] Road ready. [14:13:32] Creating fresh PPO model (no warm start)... [14:13:34] Model created. Action space: 21 discrete actions [14:13:34] Exp 27 started — PID 1094759 [14:13:34] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads/run_2026-05-06_141328_random_roads.log [14:24:26] [10,000/500,000] Checkpoint saved [14:24:26] Regenerating road (seed=63790)... [14:24:29] Road ready. [14:24:43] Eval (seed=63790): 250.5r/924s ❌@924 [14:24:43] NEW BEST: steps=924 reward=250.5 [14:33:21] [20,000/500,000] Checkpoint saved [14:33:21] Regenerating road (seed=54863)... [14:33:24] Road ready. [14:33:38] Eval (seed=54863): 275.1r/925s ❌@925 [14:33:38] NEW BEST: steps=925 reward=275.1 [14:41:36] [30,000/500,000] Checkpoint saved [14:41:36] Regenerating road (seed=84765)... [14:41:39] Road ready. [14:41:58] Eval (seed=84765): 377.3r/1325s ❌@1325 [14:41:58] NEW BEST: steps=1325 reward=377.3 [14:49:45] [40,000/500,000] Checkpoint saved [14:49:45] Regenerating road (seed=62695)... [14:49:48] Road ready. [14:49:52] Eval (seed=62695): 33.8r/134s ❌@134 [14:57:31] [50,000/500,000] Checkpoint saved [14:57:31] Regenerating road (seed=51171)... [14:57:34] Road ready. [14:57:56] Eval (seed=51171): 452.6r/1575s ❌@1575 [14:57:57] NEW BEST: steps=1575 reward=452.6 [15:05:11] [60,000/500,000] Checkpoint saved [15:05:11] Regenerating road (seed=13427)... [15:05:14] Road ready. [15:05:29] Eval (seed=13427): 289.0r/1013s ❌@1013 [15:12:02] [70,000/500,000] Checkpoint saved [15:12:02] Regenerating road (seed=99752)... [15:12:05] Road ready. [15:12:29] Eval (seed=99752): 432.3r/1648s ❌@1648 [15:12:29] NEW BEST: steps=1648 reward=432.3 [15:19:09] [80,000/500,000] Checkpoint saved [15:19:09] Regenerating road (seed=40584)... [15:19:12] Road ready. [15:19:34] Eval (seed=40584): 449.9r/1567s ❌@1567 [15:25:49] [90,000/500,000] Checkpoint saved [15:25:49] Regenerating road (seed=23677)... [15:25:52] Road ready. [15:26:14] Eval (seed=23677): 444.3r/1522s ❌@1522 [15:33:01] [100,000/500,000] Checkpoint saved [15:33:01] Regenerating road (seed=11818)... [15:33:04] Road ready. [15:33:09] Eval (seed=11818): 30.4r/160s ❌@160 [15:39:06] [110,000/500,000] Checkpoint saved [15:39:06] Regenerating road (seed=15439)... [15:39:09] Road ready. [15:39:32] Eval (seed=15439): 462.7r/1580s ❌@1580 [15:45:27] [120,000/500,000] Checkpoint saved [15:45:27] Regenerating road (seed=79776)... [15:45:30] Road ready. [15:45:43] Eval (seed=79776): 251.7r/893s ❌@893 [15:51:51] [130,000/500,000] Checkpoint saved [15:51:51] Regenerating road (seed=51)... [15:51:54] Road ready. [15:52:09] Eval (seed=51): 273.5r/1029s ❌@1029 [15:58:08] [140,000/500,000] Checkpoint saved [15:58:08] Regenerating road (seed=15985)... [15:58:11] Road ready. [15:58:30] Eval (seed=15985): 386.8r/1260s ❌@1260 [16:04:29] [150,000/500,000] Checkpoint saved [16:04:29] Regenerating road (seed=78623)... [16:04:32] Road ready. [16:04:37] Eval (seed=78623): 50.5r/193s ❌@193 [16:11:04] [160,000/500,000] Checkpoint saved [16:11:04] Regenerating road (seed=68780)... [16:11:07] Road ready. [16:11:19] Eval (seed=68780): 194.3r/753s ❌@753 [16:17:48] [170,000/500,000] Checkpoint saved [16:17:48] Regenerating road (seed=27669)... [16:17:51] Road ready. [16:18:11] Eval (seed=27669): 375.2r/1371s ❌@1371 [16:24:47] [180,000/500,000] Checkpoint saved [16:24:47] Regenerating road (seed=32153)... [16:24:50] Road ready. [16:24:55] Eval (seed=32153): 45.6r/188s ❌@188 [16:31:56] [190,000/500,000] Checkpoint saved [16:31:56] Regenerating road (seed=23522)... [16:31:59] Road ready. [16:32:22] Eval (seed=23522): 444.2r/1652s ❌@1652 [16:32:22] NEW BEST: steps=1652 reward=444.2 [16:38:46] [200,000/500,000] Checkpoint saved [16:38:46] Regenerating road (seed=35712)... [16:38:49] Road ready. [16:38:59] Eval (seed=35712): 200.8r/657s ❌@657 [16:45:01] [210,000/500,000] Checkpoint saved [16:45:01] Regenerating road (seed=84828)... [16:45:04] Road ready. [16:45:09] Eval (seed=84828): 53.5r/219s ❌@219 [16:51:16] [220,000/500,000] Checkpoint saved [16:51:16] Regenerating road (seed=66225)... [16:51:19] Road ready. [16:51:42] Eval (seed=66225): 425.7r/1612s ❌@1612 [16:58:23] [230,000/500,000] Checkpoint saved [16:58:23] Regenerating road (seed=41094)... [16:58:26] Road ready. [16:58:36] Eval (seed=41094): 162.1r/581s ❌@581 [17:05:03] [240,000/500,000] Checkpoint saved [17:05:03] Regenerating road (seed=51566)... [17:05:06] Road ready. [17:05:29] Eval (seed=51566): 438.2r/1613s ❌@1613 [17:12:04] [250,000/500,000] Checkpoint saved [17:12:04] Regenerating road (seed=18319)... [17:12:07] Road ready. [17:12:10] Eval (seed=18319): 19.8r/116s ❌@116 [17:18:52] [260,000/500,000] Checkpoint saved [17:18:52] Regenerating road (seed=99555)... [17:18:55] Road ready. [17:19:05] Eval (seed=99555): 182.6r/603s ❌@603 [17:25:37] [270,000/500,000] Checkpoint saved [17:25:37] Regenerating road (seed=59896)... [17:25:40] Road ready. [17:25:45] Eval (seed=59896): 59.4r/228s ❌@228 [17:32:04] [280,000/500,000] Checkpoint saved [17:32:04] Regenerating road (seed=50173)... [17:32:07] Road ready. [17:32:28] Eval (seed=50173): 409.5r/1498s ❌@1498 [17:39:17] [290,000/500,000] Checkpoint saved [17:39:17] Regenerating road (seed=2910)... [17:39:20] Road ready. [17:39:30] Eval (seed=2910): 132.7r/558s ❌@558 [17:47:37] [300,000/500,000] Checkpoint saved [17:47:37] Regenerating road (seed=46529)... [17:47:40] Road ready. [17:47:48] Eval (seed=46529): 120.3r/465s ❌@465