[21:17:40] ============================================================
[21:17:40] Exp 22: generated_road + generated_track, warm-started, v6 reward
[21:17:40]   Warm start: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[21:17:40]   Sim 1: localhost:9091 -> generated_road
[21:17:40]   Sim 2: localhost:9093 -> generated_track
[21:17:40]   throttle_min=0.2, lr=0.000225, total=150,000
[21:17:40]   Reward: v6 (speed x CTE with progress/efficiency exploit termination)
[21:17:40]   Stuck timeout: 8.0s, hard cap: 25.0s
[21:17:40]   Progress patience: 100 steps
[21:17:40]   Checkpoints: every 10,000 steps
[21:17:40] ============================================================
[21:17:40] Creating DummyVecEnv with the two road tracks...
starting DonkeyGym env
Setting default: start_delay 5.0
Setting default: max_cte 8.0
Setting default: frame_skip 1
Setting default: cam_resolution (120, 160, 3)
Setting default: log_level 20
Setting default: steer_limit 1.0
Setting default: throttle_min 0.0
Setting default: throttle_max 1.0
starting DonkeyGym env
Setting default: start_delay 5.0
Setting default: max_cte 8.0
Setting default: frame_skip 1
Setting default: cam_resolution (120, 160, 3)
Setting default: log_level 20
Setting default: steer_limit 1.0
Setting default: throttle_min 0.0
Setting default: throttle_max 1.0
[21:17:40]   VecEnv num_envs=2, obs=(3, 120, 160)
[21:17:43] Warm-start model attached. Starting training...