Performance of the robot in driving only mode is about 3x better. The robot can drive itself around the park in about 30 minutes instead of 90. The vast majority of the time is now spent while RVR is executing motion commands. More details below.
The DRVR code base and robot can now be operated with a cell phone to collect training data, and the training results in a neural network that produces what I think are good results. The code is in the git repository.