Paul Huliganga 138c65270f feat(exp22): add solid-hit/wedge/high-CTE exploit fixes and generated-pair warm experiments ... - reward_wrapper: detect barrier/wall/tree solid hits, terminate on head-on impact or 4 sustained solid-hit frames; prevents car wedging against invisible barriers - reward_wrapper: add low-speed/wedge termination — kills episode when car is pinned motionless (below threshold, no displacement) after grace period - reward_wrapper: high-CTE exploit fix — return -0.25 immediately when CTE > max_cte_terminate (not after patience), so PPO cannot collect positive speed rewards while driving the large outside-road circle - tests: 23 passing unit tests covering all new termination paths - exp20/21/22: add parallel DummyVecEnv experiments on generated_road+generated_track with warm-start from champion model; exp22 is current active run - SESSION_HANDOFF.md: live handoff doc for next session continuity Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>		2026-05-05 14:46:13 -04:00
..
__init__.py	feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing	2026-04-13 10:03:15 -04:00
test_autoresearch_controller.py	fix: reward v4 — full sim bypass kills circular driving at root	2026-04-13 20:56:32 -04:00
test_behavioral_wrappers.py	feat: Phase 3 — behavioral control, enhanced evaluator, 53 tests	2026-04-14 09:28:43 -04:00
test_discretize_action.py	feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing	2026-04-13 10:03:15 -04:00
test_end_to_end.py	Wave 4: scratch training on generated_track + mountain_track, zero-shot mini_monaco	2026-04-14 22:40:38 -04:00
test_reward_wrapper.py	feat(exp22): add solid-hit/wedge/high-CTE exploit fixes and generated-pair warm experiments	2026-05-05 14:46:13 -04:00
test_runner_integration.py	feat: Wave 1 complete — real PPO training, model save, GP+UCB autoresearch, 37 tests passing	2026-04-13 10:03:15 -04:00
test_wave3.py	fix: StuckTerminationWrapper — wall-clock timeout (12s) prevents 1min+ stuck episodes	2026-04-19 16:30:50 -04:00