Gate Completion Rate — All Models
v5 Track Breakdown (Best Stable)
v6 In Progress
Jerk Reduction Progress
Training Milestones
1M steps
Curriculum Learning Unlocked
v2 — Progressive track difficulty 2M steps
Slalom Breakthrough
v3 — Gate proximity + velocity rewards 3.5M steps
EMA Action Smoothing
v4 — 71.4% jerk reduction (α=0.5) 5.8M steps
96.7% Overall — Best Stable Model
v5 — 3→5→10 promotion schedule Active
v6 + v7 Training Runs Active
v6 mixed smooth + jerk · v7 smoothness focus