From de97a6eff336a472357660cfb91ea0fb877ff28c Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sun, 25 Oct 2026 15:09:51 -0500
Subject: [PATCH] Resume Auto Learn discovery when the road regime changes

---
 openpilot/starpilot/flm/live_tracking.py      |  5 +++-
 .../flm/tests/test_tracking_source_context.py | 30 +++++++++++++++++++
 prebuilt.json                                 |  2 +-
 3 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/openpilot/starpilot/flm/live_tracking.py b/openpilot/starpilot/flm/live_tracking.py
index bc1539bf76..41e59d87e8 100644
--- a/openpilot/starpilot/flm/live_tracking.py
+++ b/openpilot/starpilot/flm/live_tracking.py
@@ -738,9 +738,12 @@ class LiveTrackingOptimizer:
         # that maneuver ends. Three unmatched whole windows release it by
         # source time alone, without inspecting any tracking outcomes. No
         # incomplete comparison can confirm or persist a target.
+        # Before launch, source-only discovery follows the current input regime.
+        # Waiting three unmatched windows also suppresses native discovery
+        # throughout a new short curve. No live trial or scored row is accepted.
         last_match = self.comparison[-1].end_ns if self.comparison else self.discovery['selected_end_ns']
         if (not _matches(self.discovery['anchor'], episode)
-            and episode.end_ns - last_match >= 3 * (episode.end_ns - episode.start_ns)):
+            and (self.rmse is None or episode.end_ns - last_match >= 3 * (episode.end_ns - episode.start_ns))):
           self._discard_selector()
       if self.discovery is not None:
         discovery = self.discovery
diff --git a/openpilot/starpilot/flm/tests/test_tracking_source_context.py b/openpilot/starpilot/flm/tests/test_tracking_source_context.py
index e44c58cdba..4d2deeadb9 100644
--- a/openpilot/starpilot/flm/tests/test_tracking_source_context.py
+++ b/openpilot/starpilot/flm/tests/test_tracking_source_context.py
@@ -444,3 +444,33 @@ def test_fitted_plant_does_not_reverse_identified_direction_at_boundary():
     fitted_refresh(o, e.end_ns)
     o.observe_episode(e, now_ns=e.end_ns)
   assert o.discovery is None and o.offer_state is None
+
+
+@pytest.mark.parametrize('source_only', [False, True])
+def test_new_input_regime_retires_only_source_discovery_before_launch(source_only):
+  from openpilot.starpilot.flm.tests.test_live_tracking import optimizer, refresh as fitted_refresh
+
+  o = owner() if source_only else optimizer()
+  update = refresh if source_only else fitted_refresh
+  for i in range(40):
+    e = episode(o, i, 'center_taper_max', kind='subtle')
+    if source_only:
+      e = replace(e, normalization_accel=max(0.1, e.goal_rms))
+    update(o, e.end_ns)
+    o.observe_episode(e, now_ns=e.end_ns)
+    if o.discovery is not None:
+      break
+  previous = o.discovery
+  assert previous is not None and o.offer_state is None
+  changed = episode(o, i + 1, 'center_taper_max', kind='large')
+  if source_only:
+    changed = replace(changed, normalization_accel=max(0.1, changed.goal_rms))
+  update(o, changed.end_ns)
+  o.observe_episode(changed, now_ns=changed.end_ns)
+  assert (o.discovery is None) is source_only
+  if source_only:
+    assert o.selector_hint is None and not o.comparison
+    assert o.baseline[-1].episode_id == changed.episode_id
+  else:
+    assert o.discovery == previous
+  assert o.offer_state is None and not any(o.accepted.values())
diff --git a/prebuilt.json b/prebuilt.json
index daa13ae6cb..0fd10ea9c8 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "da94b10aa940d202e229d8fb1e36321191a7aa2de68541fd8b2f19c6816bd876", "schema_version": 1}
+{"protected_inventory_sha256": "65c1ade33b6f8f0712469790e4a2a6dc87f09c55a3253c1ee581bf9dba11d884", "schema_version": 1}