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feat(SNNBot): exponential smoothing on aim angle to stop bin-flickering

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Adjacent 1° bins have similar scores, causing the winner to flip
tick to tick. Circular EMA (α=0.6) on sin/cos dampens oscillation
while preserving tracking response.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Davide Cappellini
2026-09-14 23:22:43 +02:00
parent fc00e448a1
commit ac5301acb1
1 changed files with 12 additions and 2 deletions
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SNNBot_garage/src/SNNBot.nim
+12 -2
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@@ -215,6 +215,8 @@ type
velSpeed: float64 # speed (units/tick) from last scan delta velSpeed: float64 # speed (units/tick) from last scan delta
lastDecideGunDir: float # gun heading captured at DECIDE time for EVALUATE lastDecideGunDir: float # gun heading captured at DECIDE time for EVALUATE
lastBinInput: BitVec80 # DECIDE-time binary input, reused in EVALUATE lastBinInput: BitVec80 # DECIDE-time binary input, reused in EVALUATE
smoothSin: float # exponential smoothing of sin channel
smoothCos: float # exponential smoothing of cos channel
# ── aimTo helper ────────────────────────────────────────────────────────────── # ── aimTo helper ──────────────────────────────────────────────────────────────
@@ -377,6 +379,8 @@ method onRoundStarted*(bot: SNNBot, e: RoundStartedEvent) =
method onGameStarted*(bot: SNNBot, e: GameStartedEventForBot) = method onGameStarted*(bot: SNNBot, e: GameStartedEventForBot) =
initSNN(bot.snn) initSNN(bot.snn)
bot.res = initAimer() bot.res = initAimer()
bot.smoothSin = 0.0
bot.smoothCos = 1.0
# ── Reservoir helpers ───────────────────────────────────────────────────────── # ── Reservoir helpers ─────────────────────────────────────────────────────────
@@ -439,10 +443,16 @@ method run*(bot: SNNBot) =
let binInput = toBinaryInput(relBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos) let binInput = toBinaryInput(relBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
let winBin = bot.res.forward(binInput) let winBin = bot.res.forward(binInput)
let aimAngle = bot.res.interpolatedAngle(winBin) let aimAngle = bot.res.interpolatedAngle(winBin)
const AIM_SMOOTH = 0.6 # 60% old, 40% new — dampens flicker
# ponytail: AIM_SMOOTH=0.6 balances tracking vs stability; lower if gun lags, raise if gun dances
let aimRad = degToRad(aimAngle)
bot.smoothSin = AIM_SMOOTH * bot.smoothSin + (1.0 - AIM_SMOOTH) * sin(aimRad)
bot.smoothCos = AIM_SMOOTH * bot.smoothCos + (1.0 - AIM_SMOOTH) * cos(aimRad)
let smoothedAim = radToDeg(arctan2(bot.smoothSin, bot.smoothCos))
bot.lastBinInput = binInput bot.lastBinInput = binInput
bot.targetAngle = gunDir + aimAngle bot.targetAngle = gunDir + smoothedAim
bot.lastDecideGunDir = gunDir bot.lastDecideGunDir = gunDir
echo "RES tick=" & $bot.tick & " bin=" & $winBin & " aim=" & formatFloat(aimAngle, ffDecimal, 1) echo "RES tick=" & $bot.tick & " bin=" & $winBin & " aim=" & formatFloat(aimAngle, ffDecimal, 1) & " smoothed=" & formatFloat(smoothedAim, ffDecimal, 1)
else: else:
let inputs = encodeInputFull(relBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos) let inputs = encodeInputFull(relBearing, bot.velDirDeg, bot.velSpeed, bot.hasLastPos)
# Multi-tick inference: accumulate sin/cos and spike counts over N_INFER ticks # Multi-tick inference: accumulate sin/cos and spike counts over N_INFER ticks