feat(SNNBot): replace bin-based aimer with exemplar kernel regression

Eliminates aim jitter by switching from 360-bin WTA to weighted circular mean over stored exemplars. Continuous float output, no bins, no hysteresis, no saturation. K=128 ring buffer, Hamming similarity with quadratic weighting.
2026-09-15 07:52:32 +02:00
parent 445c873316
commit 844abe0bb7
2 changed files with 61 additions and 103 deletions
@@ -46,7 +46,6 @@ const
  # ponytail: uniform exploration noise; upgrade to annealed Gaussian if convergence needs tuning
  FIRE_POWER  = 1.0      # fixed firing power; bullet speed = 20 - 3*FIRE_POWER
  BULLET_SPEED = 20.0 - 3.0 * FIRE_POWER
-  HYSTERESIS = 1         # minimum score advantage to switch bins

 # ── SNN types ─────────────────────────────────────────────────────────────────

@@ -216,7 +215,6 @@ type
    velSpeed:        float64            # speed (units/tick) from last scan delta
    lastDecideGunDir: float             # gun heading captured at DECIDE time for EVALUATE
    lastBinInput:    BitVec80           # DECIDE-time binary input, reused in EVALUATE
-    lastWinBin:      int                # last winning bin for hysteresis

 # ── aimTo helper ──────────────────────────────────────────────────────────────

@@ -280,8 +278,7 @@ method onRoundStarted*(bot: SNNBot, e: RoundStartedEvent) =

 method onGameStarted*(bot: SNNBot, e: GameStartedEventForBot) =
  initSNN(bot.snn)
-  bot.res = initAimer()
-  bot.lastWinBin = -1
+  bot.res = initBinaryAimer()

 # ── Reservoir helpers ─────────────────────────────────────────────────────────

@@ -341,20 +338,19 @@ method run*(bot: SNNBot) =
      let relBearing = normalizeRelativeAngle(bot.enemyBearing - gunDir)
      bot.lastRelBearing = relBearing
      when USE_RESERVOIR:
-        let binInput  = toBinaryInput(relBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
-        let winBin    = bot.res.forward(binInput)
-        # ponytail: hysteresis=1 prevents bin flickering; raise if still jittery, lower if gun lags
-        let activeBin =
-          if bot.lastWinBin >= 0 and bot.res.scores[bot.lastWinBin] + HYSTERESIS >= bot.res.scores[winBin]:
-            bot.lastWinBin  # stick with current bin
-          else:
-            winBin  # switch to new winner
-        bot.lastWinBin = activeBin
-        let aimAngle  = bot.res.interpolatedAngle(activeBin)
+        let binInput = toBinaryInput(relBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
+        let aimRaw   = bot.res.forward(binInput)   # [0,360) or -1.0 sentinel
        bot.lastBinInput     = binInput
-        bot.targetAngle      = gunDir + aimAngle
        bot.lastDecideGunDir = gunDir
-        echo "RES tick=" & $bot.tick & " bin=" & $activeBin & " aim=" & formatFloat(aimAngle, ffDecimal, 1)
+        if aimRaw < 0.0:
+          # cold start: use raw bearing directly
+          bot.targetAngle = bot.enemyBearing
+          echo "RES tick=" & $bot.tick & " cold-start aim=" & formatFloat(bot.enemyBearing, ffDecimal, 1)
+        else:
+          # aimRaw is absolute angle [0,360); convert to -180..180 relative then add gunDir
+          let aimRel = normalizeRelativeAngle(aimRaw - 180.0)  # exemplars stored as 0-360, relative bearing is -180..180
+          bot.targetAngle = gunDir + aimRel
+          echo "RES tick=" & $bot.tick & " aim=" & formatFloat(aimRaw, ffDecimal, 1) & " rel=" & formatFloat(aimRel, ffDecimal, 1)
      else:
        let inputs = encodeInputFull(relBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
        # Multi-tick inference: accumulate sin/cos and spike counts over N_INFER ticks
@@ -400,23 +396,16 @@ method run*(bot: SNNBot) =
        let absBearing = directionTo(myX, myY, futureX, futureY)
        let targetRel  = normalizeRelativeAngle(absBearing - bot.lastDecideGunDir)
        when USE_RESERVOIR:
-          let winBin   = block:
-            var best = 0; var bestS = -1
-            for k in 0 ..< N_BINS:
-              if bot.res.scores[k] > bestS: bestS = bot.res.scores[k]; best = k
-            best
-          let aimAngle = bot.res.interpolatedAngle(winBin)
-          bot.res.learn(bot.lastBinInput, targetRel)
-          let correctBin   = angleToBin(targetRel)
-          let readoutPopCorrect = block:
-            var c = 0
-            for w in 0 ..< WORDS_IN: c += popcount(bot.res.readout[correctBin][w]).int
-            c
-          echo "RES tick=" & $bot.tick & " bin=" & $winBin &
-               " aim=" & formatFloat(aimAngle, ffDecimal, 1) &
-               " target=" & formatFloat(targetRel, ffDecimal, 1) &
-               " err=" & formatFloat(abs(normalizeRelativeAngle(aimAngle - targetRel)), ffDecimal, 1) &
-               " readout_pop_correct=" & $readoutPopCorrect
+          # correctAngle must be [0,360): targetRel is -180..180, shift it
+          var correctAngle = targetRel + 180.0
+          let aimRaw = bot.res.forward(bot.lastBinInput)
+          bot.res.learn(bot.lastBinInput, correctAngle)
+          let aimErr = if aimRaw >= 0.0: abs(normalizeRelativeAngle(aimRaw - correctAngle)) else: -1.0
+          echo "RES tick=" & $bot.tick &
+               " aim=" & (if aimRaw >= 0.0: formatFloat(aimRaw, ffDecimal, 1) else: "cold") &
+               " correct=" & formatFloat(correctAngle, ffDecimal, 1) &
+               " err=" & (if aimRaw >= 0.0: formatFloat(aimErr, ffDecimal, 1) else: "n/a") &
+               " exemplars=" & $bot.res.count
        else:
          let err = abs(normalizeRelativeAngle(gunDir - bot.enemyBearing))
          bot.snn.superSpikeUpdate(bot.lastSpikes, bot.lastVSnap, bot.snn.preTrace, targetRel)