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feat(SNNBot): offset-based exemplar learning for fast lead generalization

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Exemplars now store lead correction offsets instead of absolute angles.
The system learns 'how much lead to apply' independently of bearing,
so one learned lead pattern generalizes to all positions on the
battlefield. Converges in a few ticks for constant-velocity targets.
This commit is contained in:
Davide Cappellini
2026-09-16 08:12:54 +02:00
parent 01a30b7570
commit 69ffe4c44e
2 changed files with 26 additions and 24 deletions
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SNNBot_garage/src/reservoir.nim
+7 -9
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@@ -13,7 +13,7 @@ type
Exemplar* = object
pattern*: BitVec80
angle*: float # degrees 0-360
offset*: float # lead correction in degrees, typically [-30, +30]
active*: bool
BinaryAimer* = object
@@ -27,7 +27,7 @@ proc initBinaryAimer*(): BinaryAimer =
proc forward*(aimer: var BinaryAimer, input: BitVec80): float =
## Kernel regression: weighted circular mean over active exemplars.
## Weights by similarity^2 and exponential recency decay (0.95^age).
## Returns angle in [0,360) degrees, or -1.0 sentinel when cold (no weight).
## Returns offset (lead correction) in degrees, or -999.0 sentinel when cold (no weight).
var sinSum = 0.0
var cosSum = 0.0
var totalW = 0.0
@@ -41,18 +41,16 @@ proc forward*(aimer: var BinaryAimer, input: BitVec80): float =
let age = (aimer.nextSlot - 1 - i + MAX_K) mod MAX_K
let recency = pow(0.95, age.float)
let weight = float(excess * excess) * recency
let rad = degToRad(aimer.exemplars[i].angle)
let rad = degToRad(aimer.exemplars[i].offset)
sinSum += weight * sin(rad)
cosSum += weight * cos(rad)
totalW += weight
if totalW == 0.0:
return -1.0
var angle = radToDeg(arctan2(sinSum, cosSum))
if angle < 0.0: angle += 360.0
result = angle
return -999.0
result = radToDeg(arctan2(sinSum, cosSum))
proc learn*(aimer: var BinaryAimer, input: BitVec80, correctAngle: float) =
proc learn*(aimer: var BinaryAimer, input: BitVec80, offset: float) =
## Ring-buffer store: write exemplar at nextSlot, advance mod MAX_K.
aimer.exemplars[aimer.nextSlot] = Exemplar(pattern: input, angle: correctAngle, active: true)
aimer.exemplars[aimer.nextSlot] = Exemplar(pattern: input, offset: offset, active: true)
aimer.nextSlot = (aimer.nextSlot + 1) mod MAX_K
if aimer.count < MAX_K: inc aimer.count