fix(SNNBot): use absolute bearing to break aim feedback loop

The input encoded relative bearing, which changes when the bot aims, creating a closed-loop oscillation (aim→input→aim). Switching to absolute bearing (world frame) makes the input independent of aim commands, eliminating the feedback-induced jitter.
2026-09-15 08:23:08 +02:00
parent b843a79313
commit 94fbde2934
1 changed files with 47 additions and 65 deletions
@@ -215,7 +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
-    aimLocked:       bool               # when true, skip forward() and reuse targetAngle

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

@@ -255,7 +254,6 @@ method onScannedBot*(bot: SNNBot, e: ScannedBotEvent) =
  bot.enemyBearing = directionTo(bx, by, e.x, e.y)
  bot.enemyDist    = distanceTo(bx, by, e.x, e.y)
  bot.hasContact   = true
-  bot.aimLocked    = false  # release lock on fresh enemy scan
  if bot.hasLastPos:
    let dx = e.x - bot.lastEnemyX
    let dy = e.y - bot.lastEnemyY
@@ -275,7 +273,6 @@ method onRoundStarted*(bot: SNNBot, e: RoundStartedEvent) =
  bot.velSpeed     = 0.0
  bot.phase        = DECIDE
  bot.tick         = 0
-  bot.aimLocked    = false
  setTargetSpeed(0.0)
  setTurnRate(0.0)

@@ -338,59 +335,55 @@ method run*(bot: SNNBot) =

    case bot.phase
    of DECIDE:
-      if not bot.aimLocked:
-        let relBearing = normalizeRelativeAngle(bot.enemyBearing - gunDir)
-        bot.lastRelBearing = relBearing
-        when USE_RESERVOIR:
-          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.lastDecideGunDir = gunDir
-          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)
+      # absBearing: world-frame bearing [0,360) from directionTo — independent of bot heading
+      let absBearing = bot.enemyBearing
+      bot.lastRelBearing = normalizeRelativeAngle(absBearing - gunDir)
+      when USE_RESERVOIR:
+        let binInput = toBinaryInput(absBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
+        let aimRaw   = bot.res.forward(binInput)   # [0,360) or -1.0 sentinel
+        bot.lastBinInput     = binInput
+        bot.lastDecideGunDir = gunDir
+        if aimRaw < 0.0:
+          # cold start: aim directly at enemy
+          bot.targetAngle = absBearing
+          echo "RES tick=" & $bot.tick & " cold-start aim=" & formatFloat(absBearing, 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
-          var totalSin = 0.0; var totalCos = 0.0
-          var tickSpikes: array[N_HID, float]
-          var tickVSnap:  array[N_HID, float]
-          for h in 0 ..< N_HID: bot.lastSpikes[h] = 0.0
-          for _ in 0 ..< N_INFER:
-            var sinT, cosT: float
-            bot.snn.forward(inputs, tickSpikes, tickVSnap, sinT, cosT)
-            totalSin += sinT; totalCos += cosT
-            for h in 0 ..< N_HID:
-              bot.lastSpikes[h] += tickSpikes[h]   # accumulate counts
-          # Store last-tick voltages for learning
-          bot.lastVSnap = tickVSnap
-          bot.snn.lastSinOut = totalSin; bot.snn.lastCosOut = totalCos
-          bot.snn.lastSnnAngle = arctan2(totalSin, totalCos) * 180.0 / PI
-          bot.targetAngle = gunDir + bot.snn.lastSnnAngle
-          bot.lastDecideGunDir = gunDir
-          # Log total spike count across inference window
-          var spikeCount = 0
-          var maxV = 0.0
+          # aimRaw is absolute [0,360): use directly as target
+          bot.targetAngle = aimRaw
+          echo "RES tick=" & $bot.tick & " aim=" & formatFloat(aimRaw, ffDecimal, 1)
+      else:
+        let inputs = encodeInputFull(absBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
+        # Multi-tick inference: accumulate sin/cos and spike counts over N_INFER ticks
+        var totalSin = 0.0; var totalCos = 0.0
+        var tickSpikes: array[N_HID, float]
+        var tickVSnap:  array[N_HID, float]
+        for h in 0 ..< N_HID: bot.lastSpikes[h] = 0.0
+        for _ in 0 ..< N_INFER:
+          var sinT, cosT: float
+          bot.snn.forward(inputs, tickSpikes, tickVSnap, sinT, cosT)
+          totalSin += sinT; totalCos += cosT
          for h in 0 ..< N_HID:
-            spikeCount += int(bot.lastSpikes[h])
-            maxV = max(maxV, bot.snn.vHid[h])
-          echo "tick=" & $bot.tick & " infer_spk=" & $spikeCount & "/" & $(N_INFER * N_HID) & " maxV=" & formatFloat(maxV, ffDecimal, 3)
+            bot.lastSpikes[h] += tickSpikes[h]   # accumulate counts
+        # Store last-tick voltages for learning
+        bot.lastVSnap = tickVSnap
+        bot.snn.lastSinOut = totalSin; bot.snn.lastCosOut = totalCos
+        bot.snn.lastSnnAngle = arctan2(totalSin, totalCos) * 180.0 / PI
+        bot.targetAngle = gunDir + bot.snn.lastSnnAngle
+        bot.lastDecideGunDir = gunDir
+        # Log total spike count across inference window
+        var spikeCount = 0
+        var maxV = 0.0
+        for h in 0 ..< N_HID:
+          spikeCount += int(bot.lastSpikes[h])
+          maxV = max(maxV, bot.snn.vHid[h])
+        echo "tick=" & $bot.tick & " infer_spk=" & $spikeCount & "/" & $(N_INFER * N_HID) & " maxV=" & formatFloat(maxV, ffDecimal, 3)
      bot.phase = WAITING

    of WAITING:
      aimTo(bot.targetAngle, gunDir)
-      if bot.aimLocked:
-        discard setFire(FIRE_POWER)
-      else:
-        discard setFire(0.0)
      let err = abs(normalizeRelativeAngle(bot.targetAngle - gunDir))
      if err < AIM_TOL:
+        discard setFire(FIRE_POWER)
        bot.phase = EVALUATE

    of EVALUATE:
@@ -400,39 +393,28 @@ method run*(bot: SNNBot) =
        let velRad  = degToRad(bot.velDirDeg)
        let futureX = bot.lastEnemyX + cos(velRad) * bot.velSpeed * travelTime
        let futureY = bot.lastEnemyY + sin(velRad) * bot.velSpeed * travelTime
-        let absBearing = directionTo(myX, myY, futureX, futureY)
-        let targetRel  = normalizeRelativeAngle(absBearing - bot.lastDecideGunDir)
+        # correctAngle: absolute world-frame bearing [0,360) to predicted enemy position
+        let correctAngle = directionTo(myX, myY, futureX, futureY)
        when USE_RESERVOIR:
-          # correctAngle must be [0,360): targetRel is -180..180, shift it
-          var correctAngle = targetRel + 180.0
          let aimRaw = bot.res.forward(bot.lastBinInput)
          # Dead zone: only learn if aim error > 1.5° (prevents ring buffer churn)
          if aimRaw >= 0.0:
            let aimErr = abs(normalizeRelativeAngle(aimRaw - correctAngle))
            if aimErr > 1.5:
              bot.res.learn(bot.lastBinInput, correctAngle)
-              bot.aimLocked = false  # error still large, keep recomputing
-            else:
-              bot.aimLocked = true   # error within dead zone, freeze aim
          else:
            # Cold start: always learn
            bot.res.learn(bot.lastBinInput, correctAngle)
-            bot.aimLocked = false
          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 &
-               " lock=" & (if bot.aimLocked: "ON" else: "OFF")
+               " exemplars=" & $bot.res.count
        else:
-          let err = abs(normalizeRelativeAngle(gunDir - bot.enemyBearing))
+          let targetRel = normalizeRelativeAngle(correctAngle - bot.lastDecideGunDir)
          bot.snn.superSpikeUpdate(bot.lastSpikes, bot.lastVSnap, bot.snn.preTrace, targetRel)
-          # Aim lock: freeze when error within 1.5° threshold
-          if err < 1.5:
-            bot.aimLocked = true
-          else:
-            bot.aimLocked = false
+          let err = abs(normalizeRelativeAngle(gunDir - bot.enemyBearing))
          # Compute verbose logging metrics
          var spikeCount = 0
          var maxV = 0.0
@@ -449,7 +431,7 @@ method run*(bot: SNNBot) =
          for w in bot.snn.wCos:
            meanWout += abs(w)
          meanWout /= float(2 * N_HID)
-          echo "tick=" & $bot.tick & " err=" & formatFloat(err, ffDecimal, 1) & "° infer_spk=" & $spikeCount & "/" & $(N_INFER * N_HID) & " maxV=" & formatFloat(maxV, ffDecimal, 3) & " |wih|=" & formatFloat(meanWih, ffDecimal, 4) & " |wOut|=" & formatFloat(meanWout, ffDecimal, 4) & " sin=" & formatFloat(bot.snn.lastSinOut, ffDecimal, 3) & " cos=" & formatFloat(bot.snn.lastCosOut, ffDecimal, 3) & " snnAngle=" & formatFloat(bot.snn.lastSnnAngle, ffDecimal, 1) & " lock=" & (if bot.aimLocked: "ON" else: "OFF")
+          echo "tick=" & $bot.tick & " err=" & formatFloat(err, ffDecimal, 1) & "° infer_spk=" & $spikeCount & "/" & $(N_INFER * N_HID) & " maxV=" & formatFloat(maxV, ffDecimal, 3) & " |wih|=" & formatFloat(meanWih, ffDecimal, 4) & " |wOut|=" & formatFloat(meanWout, ffDecimal, 4) & " sin=" & formatFloat(bot.snn.lastSinOut, ffDecimal, 3) & " cos=" & formatFloat(bot.snn.lastCosOut, ffDecimal, 3) & " snnAngle=" & formatFloat(bot.snn.lastSnnAngle, ffDecimal, 1)
      bot.phase = DECIDE

    # Radar lock