146 lines
6.3 KiB
Plaintext
146 lines
6.3 KiB
Plaintext
[14:13:28] ============================================================
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[14:13:28] Exp 27: fresh weights | truly random roads | variable throttle
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[14:13:28] Sim: localhost:9091 → donkey-generated-roads-v0
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[14:13:28] Steering: 7 bins | Throttle: 3 bins → [0.2, 0.5, 1.0]
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[14:13:28] LR=0.0003, ent_coef=0.05, n_steps=1024
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[14:13:28] Total=500,000 steps, checkpoint every 10,000
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[14:13:28] CTE term: >2.0m for >0.5s
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[14:13:28] Speed term: <1.0 for >1.5s
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[14:13:28] Episode cap: 30.0s | Road regen: random seed each checkpoint
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[14:13:28] BrakeOnUpdateCallback: enabled
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[14:13:28] ============================================================
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[14:13:28] Connecting to sim...
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[14:13:29] Connected. obs=(3, 120, 160), action=Discrete(21)
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[14:13:29] Initial road regen (seed=89942)...
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[14:13:32] Road ready.
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[14:13:32] Creating fresh PPO model (no warm start)...
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[14:13:34] Model created. Action space: 21 discrete actions
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[14:13:34] Exp 27 started — PID 1094759
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[14:13:34] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp27-random-roads/run_2026-05-06_141328_random_roads.log
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[14:24:26] [10,000/500,000] Checkpoint saved
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[14:24:26] Regenerating road (seed=63790)...
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[14:24:29] Road ready.
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[14:24:43] Eval (seed=63790): 250.5r/924s ❌@924
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[14:24:43] NEW BEST: steps=924 reward=250.5
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[14:33:21] [20,000/500,000] Checkpoint saved
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[14:33:21] Regenerating road (seed=54863)...
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[14:33:24] Road ready.
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[14:33:38] Eval (seed=54863): 275.1r/925s ❌@925
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[14:33:38] NEW BEST: steps=925 reward=275.1
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[14:41:36] [30,000/500,000] Checkpoint saved
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[14:41:36] Regenerating road (seed=84765)...
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[14:41:39] Road ready.
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[14:41:58] Eval (seed=84765): 377.3r/1325s ❌@1325
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[14:41:58] NEW BEST: steps=1325 reward=377.3
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[14:49:45] [40,000/500,000] Checkpoint saved
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[14:49:45] Regenerating road (seed=62695)...
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[14:49:48] Road ready.
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[14:49:52] Eval (seed=62695): 33.8r/134s ❌@134
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[14:57:31] [50,000/500,000] Checkpoint saved
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[14:57:31] Regenerating road (seed=51171)...
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[14:57:34] Road ready.
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[14:57:56] Eval (seed=51171): 452.6r/1575s ❌@1575
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[14:57:57] NEW BEST: steps=1575 reward=452.6
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[15:05:11] [60,000/500,000] Checkpoint saved
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[15:05:11] Regenerating road (seed=13427)...
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[15:05:14] Road ready.
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[15:05:29] Eval (seed=13427): 289.0r/1013s ❌@1013
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[15:12:02] [70,000/500,000] Checkpoint saved
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[15:12:02] Regenerating road (seed=99752)...
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[15:12:05] Road ready.
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[15:12:29] Eval (seed=99752): 432.3r/1648s ❌@1648
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[15:12:29] NEW BEST: steps=1648 reward=432.3
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[15:19:09] [80,000/500,000] Checkpoint saved
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[15:19:09] Regenerating road (seed=40584)...
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[15:19:12] Road ready.
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[15:19:34] Eval (seed=40584): 449.9r/1567s ❌@1567
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[15:25:49] [90,000/500,000] Checkpoint saved
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[15:25:49] Regenerating road (seed=23677)...
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[15:25:52] Road ready.
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[15:26:14] Eval (seed=23677): 444.3r/1522s ❌@1522
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[15:33:01] [100,000/500,000] Checkpoint saved
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[15:33:01] Regenerating road (seed=11818)...
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[15:33:04] Road ready.
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[15:33:09] Eval (seed=11818): 30.4r/160s ❌@160
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[15:39:06] [110,000/500,000] Checkpoint saved
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[15:39:06] Regenerating road (seed=15439)...
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[15:39:09] Road ready.
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[15:39:32] Eval (seed=15439): 462.7r/1580s ❌@1580
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[15:45:27] [120,000/500,000] Checkpoint saved
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[15:45:27] Regenerating road (seed=79776)...
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[15:45:30] Road ready.
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[15:45:43] Eval (seed=79776): 251.7r/893s ❌@893
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[15:51:51] [130,000/500,000] Checkpoint saved
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[15:51:51] Regenerating road (seed=51)...
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[15:51:54] Road ready.
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[15:52:09] Eval (seed=51): 273.5r/1029s ❌@1029
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[15:58:08] [140,000/500,000] Checkpoint saved
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[15:58:08] Regenerating road (seed=15985)...
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[15:58:11] Road ready.
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[15:58:30] Eval (seed=15985): 386.8r/1260s ❌@1260
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[16:04:29] [150,000/500,000] Checkpoint saved
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[16:04:29] Regenerating road (seed=78623)...
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[16:04:32] Road ready.
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[16:04:37] Eval (seed=78623): 50.5r/193s ❌@193
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[16:11:04] [160,000/500,000] Checkpoint saved
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[16:11:04] Regenerating road (seed=68780)...
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[16:11:07] Road ready.
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[16:11:19] Eval (seed=68780): 194.3r/753s ❌@753
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[16:17:48] [170,000/500,000] Checkpoint saved
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[16:17:48] Regenerating road (seed=27669)...
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[16:17:51] Road ready.
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[16:18:11] Eval (seed=27669): 375.2r/1371s ❌@1371
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[16:24:47] [180,000/500,000] Checkpoint saved
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[16:24:47] Regenerating road (seed=32153)...
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[16:24:50] Road ready.
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[16:24:55] Eval (seed=32153): 45.6r/188s ❌@188
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[16:31:56] [190,000/500,000] Checkpoint saved
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[16:31:56] Regenerating road (seed=23522)...
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[16:31:59] Road ready.
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[16:32:22] Eval (seed=23522): 444.2r/1652s ❌@1652
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[16:32:22] NEW BEST: steps=1652 reward=444.2
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[16:38:46] [200,000/500,000] Checkpoint saved
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[16:38:46] Regenerating road (seed=35712)...
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[16:38:49] Road ready.
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[16:38:59] Eval (seed=35712): 200.8r/657s ❌@657
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[16:45:01] [210,000/500,000] Checkpoint saved
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[16:45:01] Regenerating road (seed=84828)...
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[16:45:04] Road ready.
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[16:45:09] Eval (seed=84828): 53.5r/219s ❌@219
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[16:51:16] [220,000/500,000] Checkpoint saved
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[16:51:16] Regenerating road (seed=66225)...
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[16:51:19] Road ready.
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[16:51:42] Eval (seed=66225): 425.7r/1612s ❌@1612
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[16:58:23] [230,000/500,000] Checkpoint saved
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[16:58:23] Regenerating road (seed=41094)...
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[16:58:26] Road ready.
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[16:58:36] Eval (seed=41094): 162.1r/581s ❌@581
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[17:05:03] [240,000/500,000] Checkpoint saved
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[17:05:03] Regenerating road (seed=51566)...
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[17:05:06] Road ready.
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[17:05:29] Eval (seed=51566): 438.2r/1613s ❌@1613
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[17:12:04] [250,000/500,000] Checkpoint saved
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[17:12:04] Regenerating road (seed=18319)...
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[17:12:07] Road ready.
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[17:12:10] Eval (seed=18319): 19.8r/116s ❌@116
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[17:18:52] [260,000/500,000] Checkpoint saved
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[17:18:52] Regenerating road (seed=99555)...
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[17:18:55] Road ready.
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[17:19:05] Eval (seed=99555): 182.6r/603s ❌@603
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[17:25:37] [270,000/500,000] Checkpoint saved
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[17:25:37] Regenerating road (seed=59896)...
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[17:25:40] Road ready.
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[17:25:45] Eval (seed=59896): 59.4r/228s ❌@228
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[17:32:04] [280,000/500,000] Checkpoint saved
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[17:32:04] Regenerating road (seed=50173)...
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[17:32:07] Road ready.
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[17:32:28] Eval (seed=50173): 409.5r/1498s ❌@1498
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[17:39:17] [290,000/500,000] Checkpoint saved
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[17:39:17] Regenerating road (seed=2910)...
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[17:39:20] Road ready.
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[17:39:30] Eval (seed=2910): 132.7r/558s ❌@558
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[17:47:37] [300,000/500,000] Checkpoint saved
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[17:47:37] Regenerating road (seed=46529)...
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[17:47:40] Road ready.
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[17:47:48] Eval (seed=46529): 120.3r/465s ❌@465
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