Merge branch 'worktree-agent-af671e69' into research/goto-controller

CONTEXT.md

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+# Evo_Bot
+
+Robocode Tank Royale bot with a modular gun system where evolved neural networks learn to predict enemy dodge behavior.
+
+## Language
+
+**Evo_Bot**:
+The bot itself — handles movement and firing discipline. Guns are pluggable modules.
+_Avoid_: robot, tank
+
+**Guess Factor (GF)**:
+A value from -1 to +1 representing where on the maximum escape angle arc the enemy is. 0 = directly ahead, -1 = full left dodge, +1 = full right dodge. The gun's prediction target.
+_Avoid_: aim offset, dodge index
+
+**Max Escape Angle (MEA)**:
+The widest angle the enemy can reach before a bullet arrives, computed from distance and bullet speed. Guess factor is multiplied by MEA to get the aim offset.
+
+**Lateral Velocity**:
+Enemy speed projected perpendicular to the line between you and them. The primary signal for guess factor prediction.
+_Avoid_: tangential speed, sideways velocity
+
+**Sliding Window**:
+The last N ticks (default 30) of enemy state fed as input to the network. Each tick contains lateral velocity, heading delta, and wall distance ahead.
+_Avoid_: observation buffer, input history
+
+**Replay Tape**:
+Rolling buffer of recorded enemy states (~2000 ticks). The evolution thread evaluates gun fitness against this tape.
+_Avoid_: experience buffer, replay buffer
+
+**Virtual Gun**:
+A gun that runs in parallel without actually firing. It tracks where it would have aimed and whether a simulated bullet would have hit. Used to compare gun variants.
+
+**Virtual Bullet**:
+A simulated bullet fired by a virtual gun. Never actually sent to the game engine.
+
+**TOPO_Gun**:
+Fixed-topology ANN gun evolved by GA. Network shape is predetermined (e.g., 91-8-1), only weights are evolved.
+_Avoid_: static gun, fixed gun
+
+**NEAT_Gun**:
+Variable-topology ANN gun where evolution can add/remove neurons and connections (NEAT algorithm). Deferred — only built if TOPO_Gun hits a ceiling.
+
+**Population**:
+The set of candidate networks (default 64-200) being evolved. Each member is a complete set of ANN weights.
+
+**Champion**:
+The best-performing network in the current GA population. The champion's weights are pushed to the inference side when it beats the current best.
+_Avoid_: best, winner, elite
+
+**Fitness**:
+Hit count when a network's aim predictions are evaluated as virtual bullets against sampled ticks from the replay tape.
+_Avoid_: score, reward
+
+**Cold Start**:
+The first-ever battle with no saved weights. The gun does not fire until the evolution thread produces its first champion. Subsequent battles load persisted weights.
+
+**Weight Persistence**:
+Saving evolved weights to disk. Load order: per-opponent file, then global fallback, then random initialization.
+_Avoid_: model saving, checkpointing