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donkeycar-rl-autoresearch/agent/outerloop-results
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Paul Huliganga 4ca5304a71 wave3: add multi-track autoresearch system (83 tests passing) 
New files:
- agent/multitrack_runner.py: trains PPO round-robin across generated_road,
  generated_track, mountain_track; zero-shot evaluates on mini_monaco + warren
- agent/wave3_controller.py: GP+UCB outer loop optimising combined test score
- tests/test_wave3.py: 30 new tests (83 total)

Track classification (from visual analysis of all 10 screenshots):
  Training  : generated_road, generated_track, mountain_track
  Test (ZSL): mini_monaco, warren (pseudo-outdoor — proper road markings)
  Skip      : warehouse, robo_racing_league, waveshare, circuit_launch (indoor floor)
              avc_sparkfun (orange markings — different visual domain)

Key design decisions:
  ADR-010: Warren = pseudo-outdoor track (proper road lines, not floor marks)
  ADR-011: Test tracks NEVER used in training; GP optimises test score only
  ADR-012: All trials warm-start from Phase 2 champion model
  Switching: env.close() + send_exit_scene_raw() + 4s wait + gym.make()

Pre-Wave-3 baseline: 1/10 tracks drivable (0/2 held-out test tracks)
Wave 3 goal: 2/2 test tracks drivable (mini_monaco + warren)

Agent: pi
Tests: 83 passed
Tests-Added: 30
TypeScript: N/A
 		2026-04-14 12:47:12 -04:00
..
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 wave3: add multi-track autoresearch system (83 tests passing) 2026-04-14 12:47:12 -04:00
autoresearch_phase3_log.txt wave3: add multi-track autoresearch system (83 tests passing) 2026-04-14 12:47:12 -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
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