Full retrain pipeline + hybrid policy set

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Ran end-to-end clean retrain + gym eval + 24-cell Webots sweep
(tools/full_pipeline.sh). Results:

  Differential — all 16 cells pen N/N. Updated policies committed.
  Mecanum     — new training stochastically regressed (only 2/8 cells
                vs the v2 baseline's 4/8). v2 baseline mec policies
                are RESTORED in this commit (training/runs/{bc,rl}_
                mecanum_*) — they remain the deliverable.

The retrain pipeline itself is committed for reproducibility
(tools/full_pipeline.sh: clean → train_all → eval_all → 24-cell
Webots sweep). The v2 mec policies are also backed up locally to
_backup_pretrain/mec_v2_baseline/ (gitignored).

Verified after restore:
  bc mec field_round n=10 → 10/10 in 147 s sim
  rl diff field n=5      → 5/5  in 137 s sim

...

This commit is contained in:

Johnny Fernandes

2026-05-20 08:07:39 +00:00

parent 07d1ece3d4

commit 0a27ad9a26

5 changed files with 86 additions and 0 deletions

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training/runs/bc_differential_field_round/policy.zip

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