Paul Huliganga 47d8e5b346 fix: short-lap exploit now TERMINATES the episode, not just penalises ... The circle exploit persisted because the penalty alone (-100 per short lap) was insufficient. The model stayed alive between laps accumulating small positive rewards, making circling a viable strategy despite the penalty. Fix: _compute_reward_and_done() returns (reward, force_terminate). When a short lap is detected, force_terminate=True is returned and step() sets terminated=True immediately. The episode ends on the spot — no more rewards possible. This makes the circle exploit strictly worse than any forward driving behaviour. Tests updated: _compute_reward → _compute_reward_and_done, short-lap test now asserts force_terminate=True. Agent: pi Tests: 102 passed Tests-Added: 0 TypeScript: N/A		2026-04-18 10:42:23 -04:00
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model-000	Initial commit: stable RL sweep runner, legacy and new scripts, full docs included	2026-04-12 22:57:50 -04:00
model-001	Initial commit: stable RL sweep runner, legacy and new scripts, full docs included	2026-04-12 22:57:50 -04:00
model-002	Initial commit: stable RL sweep runner, legacy and new scripts, full docs included	2026-04-12 22:57:50 -04:00
model-003	Initial commit: stable RL sweep runner, legacy and new scripts, full docs included	2026-04-12 22:57:50 -04:00
autoresearch_log.txt	AUTORESEARCH: 300 total trials complete - best mean_reward=141.85 at n_steer=8, n_throttle=5, lr=0.00202	2026-04-13 01:56:06 -04:00
autoresearch_phase1_log.txt	milestone: Phase 1 complete — genuine driving confirmed; launch Phase 2 corner learning	2026-04-13 19:33:06 -04:00
autoresearch_phase1_log_CORRUPTED_circular_driving.txt	fix: path-efficiency reward (v3) defeats circular driving exploit	2026-04-13 13:36:17 -04:00
autoresearch_phase1_log_CORRUPTED_reward_hacking.txt	fix: hack-proof reward shaping + reward hacking detection + research log	2026-04-13 12:27:48 -04:00
autoresearch_phase2_log.txt	fix: short-lap exploit now TERMINATES the episode, not just penalises	2026-04-18 10:42:23 -04:00
autoresearch_phase3_log.txt	fix: short-lap exploit now TERMINATES the episode, not just penalises	2026-04-18 10:42:23 -04:00
autoresearch_phase4_log.txt	feat: v5 reward — speed × CTE-quality, drop efficiency term	2026-04-17 13:25:38 -04:00
autoresearch_results.jsonl	AUTORESEARCH: 300 total trials complete - best mean_reward=141.85 at n_steer=8, n_throttle=5, lr=0.00202	2026-04-13 01:56:06 -04:00
autoresearch_results_phase1.jsonl	autoresearch: phase1 trial 50 results	2026-04-13 19:17:56 -04:00
autoresearch_results_phase1_CORRUPTED_circular_driving.jsonl	fix: path-efficiency reward (v3) defeats circular driving exploit	2026-04-13 13:36:17 -04:00
autoresearch_results_phase1_CORRUPTED_reward_hacking.jsonl	fix: hack-proof reward shaping + reward hacking detection + research log	2026-04-13 12:27:48 -04:00
autoresearch_results_phase2.jsonl	autoresearch: phase1 trial 20 results	2026-04-14 04:35:45 -04:00
autoresearch_results_phase3.jsonl	Wave 4: scratch training on generated_track + mountain_track, zero-shot mini_monaco	2026-04-14 22:40:38 -04:00
autoresearch_results_phase3_CONTAMINATED_v2.jsonl	fix: complete LR override — must patch lr_schedule, not just param_groups	2026-04-14 21:27:43 -04:00
autoresearch_results_phase3_CONTAMINATED_wrong_lr.jsonl	fix: LR override was not reaching the optimizer — all trials ran at 0.000225	2026-04-14 20:37:48 -04:00
autoresearch_results_phase4.jsonl	wave3: autoresearch trial 25 results	2026-04-16 20:01:51 -04:00
clean_sweep_results.jsonl	AUTORESEARCH: Full Karpathy-style GP+UCB meta-controller, clean base data, fixed all paths, ready to run	2026-04-13 00:52:00 -04:00
eval_summary.jsonl	fix: track switching via unwrapped viewer.exit_scene() — automatic scene changes work	2026-04-14 10:04:15 -04:00
multitrack_results.jsonl	results: complete multi-track generalization baseline — 1/10 tracks drivable pre-Wave3	2026-04-14 11:31:08 -04:00
nohup_outerloop.log	Initial commit: stable RL sweep runner, legacy and new scripts, full docs included	2026-04-12 22:57:50 -04:00
outer_monitor.log	Initial commit: stable RL sweep runner, legacy and new scripts, full docs included	2026-04-12 22:57:50 -04:00
sweep_results.jsonl	Initial commit: stable RL sweep runner, legacy and new scripts, full docs included	2026-04-12 22:57:50 -04:00