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donkeycar-rl-autoresearch
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Research-grade DonkeyCar RL autoresearch and sweep system.
62 Commits 1 Branch 0 Tags 207 MiB
Python 94.3%
Shell 5.7%
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Paul Huliganga b8a13dea81 feat: v5 reward — speed × CTE-quality, drop efficiency term 
Problem with v4 on mountain_track: CTE × efficiency × speed all collapse
to zero simultaneously when the car slows on the hill, giving no gradient
signal for 'apply more throttle'.

v5: reward = (speed / 10) × (1 - |CTE| / max_cte)
- Directly rewards going fast while staying centred
- Hill: car slows → reward drops → clear gradient toward more throttle
- Circling protection now entirely handled by lap-time penalty +
  StuckTerminationWrapper (not by the reward formula)

Tests updated to reflect v5 semantics (102 passing).

Agent: pi
Tests: 102 passed
Tests-Added: 0
TypeScript: N/A
 		2026-04-17 13:25:38 -04:00
.harness feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
agent feat: v5 reward — speed × CTE-quality, drop efficiency term 2026-04-17 13:25:38 -04:00
docs docs: STATE.md updated with April 16 test results 2026-04-16 20:45:45 -04:00
tests feat: v5 reward — speed × CTE-quality, drop efficiency term 2026-04-17 13:25:38 -04:00
.gitignore feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
AGENT.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
DECISIONS.md docs: ADR-013 through ADR-016 — decisions that were lost to context compaction 2026-04-15 22:34:48 -04:00
IMPLEMENTATION_PLAN.md feat: Phase 3 — behavioral control, enhanced evaluator, 53 tests 2026-04-14 09:28:43 -04:00
PROJECT-KICKOFF.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
PROJECT-SPEC.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
README.md feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00
create_gitea_repo.py Initial commit 2026-04-12 23:44:36 -04:00
ralph-loop.sh feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing 2026-04-13 10:03:15 -04:00

README.md

donkeycar-rl-autoresearch

Purpose

Status

  • Scaffolded with the agent harness
  • Spec not filled yet

Runbook

  • Fill PROJECT-SPEC.md
  • Create IMPLEMENTATION_PLAN.md from the spec
  • Start the implementation loop