Bug: send_exit_scene_raw() opened a NEW TCP connection, creating a second
phantom vehicle. The sim sent exit_scene to the phantom, leaving the real
training connection stuck on generated_road for the entire run.
Fix: _send_exit_scene() now calls env.unwrapped.viewer.exit_scene() on the
EXISTING TCP connection that the training env already holds. This is the
only reliable way to switch scenes mid-session (matches track_switcher.py).
Also:
- Removed send_exit_scene_raw() import from multitrack_runner.py
- Simplified initial connection (no spurious exit_scene at startup)
- Reduced search space: total_timesteps 80k-400k -> 30k-150k
- Reduced seed params: 150k/300k -> 45k/90k (~35-45 min per trial)
- Added test: test_close_and_switch_uses_viewer_not_raw_socket
83 tests passing
Agent: pi
Tests: 83 passed
Tests-Added: 1
TypeScript: N/A
86657a26b8