feat(SAC_LSTM_Bot): action mapping module (#43)

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-08-20 23:38:45 +02:00
parent add3e34926
commit 4ee0d8272c
2 changed files with 133 additions and 0 deletions
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+## actions.nim — map raw network output (4 tanh values) to bot intent fields.
+##
+## Note on acceleration vs targetSpeed:
+##   TankRoyale uses setTargetSpeed(), not setAcceleration().
+##   The mapped `acceleration` field is a delta; callers must compute:
+##     newTargetSpeed = clamp(currentSpeed + acceleration, -8.0, 8.0)
+##   and call setTargetSpeed(newTargetSpeed).
+
+import arraymancer
+
+const ACTION_DIM* = 4
+
+type
+  MappedActions* = object
+    turnRate*:    float  ## degrees/tick, speed-aware; [-10, 10] at speed 0
+    acceleration*: float ## delta speed in [-2, +1]; caller adds to currentSpeed
+    gunTurnRate*: float  ## degrees/tick in [-20, 20]
+    firePower*:   float  ## 0 = don't fire; (0.1, 3.0] = fire with this power
+
+proc mapActions*(networkOutput: Tensor[float32],
+                 currentSpeed: float,
+                 gunHeat: float): MappedActions =
+  ## networkOutput: [4] tensor of tanh values in [-1, 1].
+  let a0 = networkOutput[0].float
+  let a1 = networkOutput[1].float
+  let a2 = networkOutput[2].float
+  let a3 = networkOutput[3].float
+
+  result.turnRate    = a0 * (10.0 - 0.75 * abs(currentSpeed))
+  # asymmetric accel: [-1,1] -> [-2, +1] via (value * 1.5 - 0.5)
+  result.acceleration = a1 * 1.5 - 0.5
+  result.gunTurnRate = a2 * 20.0
+  if a3 > 0.0 and gunHeat <= 0.0:
+    result.firePower = a3 * 2.9 + 0.1
+  else:
+    result.firePower = 0.0
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+import unittest
+import arraymancer
+import std/math
+import SAC_LSTM_Bot/actions
+
+proc makeOutput(a0, a1, a2, a3: float): Tensor[float32] =
+  result = newTensor[float32](4)
+  result[0] = a0.float32
+  result[1] = a1.float32
+  result[2] = a2.float32
+  result[3] = a3.float32
+
+suite "mapActions":
+
+  test "ACTION_DIM is 4":
+    check ACTION_DIM == 4
+
+  # Speed-aware turn rate
+  test "turn: output +1 at speed 0 -> +10 degrees":
+    let m = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), 0.0, 0.0)
+    check abs(m.turnRate - 10.0) < 1e-6
+
+  test "turn: output -1 at speed 0 -> -10 degrees":
+    let m = mapActions(makeOutput(-1.0, 0.0, 0.0, -1.0), 0.0, 0.0)
+    check abs(m.turnRate - (-10.0)) < 1e-6
+
+  test "turn: output +1 at speed 8 -> +4 degrees":
+    let m = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), 8.0, 0.0)
+    check abs(m.turnRate - 4.0) < 1e-6
+
+  test "turn: output -1 at speed 8 -> -4 degrees":
+    let m = mapActions(makeOutput(-1.0, 0.0, 0.0, -1.0), 8.0, 0.0)
+    check abs(m.turnRate - (-4.0)) < 1e-6
+
+  test "turn: output 0 -> 0 regardless of speed":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, -1.0), 5.0, 0.0)
+    check abs(m.turnRate) < 1e-6
+
+  # Acceleration range
+  test "accel: output -1 -> -2.0":
+    let m = mapActions(makeOutput(0.0, -1.0, 0.0, -1.0), 0.0, 0.0)
+    check abs(m.acceleration - (-2.0)) < 1e-6
+
+  test "accel: output +1 -> +1.0":
+    let m = mapActions(makeOutput(0.0, 1.0, 0.0, -1.0), 0.0, 0.0)
+    check abs(m.acceleration - 1.0) < 1e-6
+
+  test "accel: output 0 -> midpoint -0.5":
+    # value*1.5 - 0.5 at value=0 -> -0.5 (correct midpoint between -2 and +1)
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, -1.0), 0.0, 0.0)
+    check abs(m.acceleration - (-0.5)) < 1e-6
+
+  # Gun turn rate
+  test "gun turn: output +1 -> +20 degrees":
+    let m = mapActions(makeOutput(0.0, 0.0, 1.0, -1.0), 0.0, 0.0)
+    check abs(m.gunTurnRate - 20.0) < 1e-6
+
+  test "gun turn: output -1 -> -20 degrees":
+    let m = mapActions(makeOutput(0.0, 0.0, -1.0, -1.0), 0.0, 0.0)
+    check abs(m.gunTurnRate - (-20.0)) < 1e-6
+
+  test "gun turn: output 0 -> 0":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, -1.0), 0.0, 0.0)
+    check abs(m.gunTurnRate) < 1e-6
+
+  # Fire threshold
+  test "fire: output -0.5 -> no fire (firePower == 0)":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, -0.5), 0.0, 0.0)
+    check m.firePower == 0.0
+
+  test "fire: output 0.0 -> no fire (boundary, not positive)":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, 0.0), 0.0, 0.0)
+    check m.firePower == 0.0
+
+  test "fire: output +0.5 -> fire with correct power":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, 0.5), 0.0, 0.0)
+    # 0.5 * 2.9 + 0.1 = 1.55
+    check abs(m.firePower - 1.55) < 1e-5
+
+  test "fire: output +1.0 -> fire power near 3.0":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, 1.0), 0.0, 0.0)
+    check abs(m.firePower - 3.0) < 1e-5
+
+  test "fire: output +1.0 but gunHeat > 0 -> no fire":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, 1.0), 0.0, 1.5)
+    check m.firePower == 0.0
+
+  test "fire: output +0.001 (just above 0) -> fires with power near 0.1":
+    let m = mapActions(makeOutput(0.0, 0.0, 0.0, 0.001), 0.0, 0.0)
+    check m.firePower > 0.0
+    check m.firePower < 0.2
+
+  # Speed-aware turn with negative speed (reverse)
+  test "turn: speed -8 (reversing) -> same magnitude as speed +8":
+    let fwd = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), 8.0, 0.0)
+    let rev = mapActions(makeOutput(1.0, 0.0, 0.0, -1.0), -8.0, 0.0)
+    check abs(fwd.turnRate - rev.turnRate) < 1e-6