feat(PPO_Bot): command abstraction layer — goto/aimTo controllers (#24)

- Add gotoTick/aimToTick controller functions (#25)
- Update network dims: actor 5→6, state 42→44 (#26)
- Rewrite mapActions for 6-dim command space (#27)
- Delete stale weight files (shape mismatch)
- Fix existing tests for new signatures

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

PPO_Bot/PPO_Bot.nim

@@ -24,6 +24,7 @@ type PPOBot = ref object of Bot
   lastLogP:      float32
   lastValue:     float32
   hasLastTrans:  bool
+  lastActions:   BotActions    # previous tick's decoded actions (for state vector)
   roundRewardSum: float32      # cumulative reward this round (for live display)
   roundTicks:     int          # ticks this round
 
@@ -36,6 +37,7 @@ type
   TrainingResult = object
     ac:         ActorCritic
     adamStates: ACAdamStates
+    metrics:    PPOMetrics
 
   TrainingArgs = object
     ac:          ActorCritic
@@ -54,9 +56,9 @@ var
 proc trainingThreadProc(args: TrainingArgs) {.thread.} =
   var localAc = args.ac
   var localAdam = args.adamStates
-  ppoUpdate(localAc, args.buffer, lastValue = args.lastValue, adamStates = localAdam)
+  let m = ppoUpdate(localAc, args.buffer, lastValue = args.lastValue, adamStates = localAdam)
   saveCheckpoint(localAc, args.weightsRoot, args.roundNum)
-  resultChan.send(TrainingResult(ac: localAc, adamStates: localAdam))
+  resultChan.send(TrainingResult(ac: localAc, adamStates: localAdam, metrics: m))
 
 # ── Bot methods ───────────────────────────────────────────────────────────────
 
@@ -91,6 +93,7 @@ method onRoundEnded*(bot: PPOBot, e: RoundEndedEventForBot) =
     let avgR = rewardSum / ticks.float32
     let avgRStr = formatFloat(avgR.float, ffDecimal, 3)
     printToStdOut(&"R:{roundCounter} ticks:{ticks} avgR:{avgRStr} score:{e.results.totalScore}\n")
+    echo &"R:{roundCounter} ticks:{ticks} avgR:{avgRStr} score:{e.results.totalScore}"
 
   # Pick up result from previous training thread if available; channel IS the sync
   if threadLaunched:
@@ -99,6 +102,9 @@ method onRoundEnded*(bot: PPOBot, e: RoundEndedEventForBot) =
       ac = trained.ac
       gAdamStates = trained.adamStates
       threadLaunched = false
+      let m = trained.metrics
+      printToStdOut(&"  trained R:{roundCounter-1} aLoss:{formatFloat(m.actorLoss.float, ffDecimal, 4)} vLoss:{formatFloat(m.valueLoss.float, ffDecimal, 4)} gNorm:{formatFloat(m.gradNorm.float, ffDecimal, 3)}\n")
+      echo &"  trained R:{roundCounter-1} aLoss:{formatFloat(m.actorLoss.float, ffDecimal, 4)} vLoss:{formatFloat(m.valueLoss.float, ffDecimal, 4)} gNorm:{formatFloat(m.gradNorm.float, ffDecimal, 3)}"
 
   if bot.buffer.len == 0:
     bot.hasLastTrans = false
@@ -122,6 +128,8 @@ method onRoundEnded*(bot: PPOBot, e: RoundEndedEventForBot) =
   bot.buffer.clear()
   bot.hasLastTrans = false
 
+  printToStdOut(&"  train→ R:{roundCounter} ticks:{ticks}\n")
+  echo &"  train→ R:{roundCounter} ticks:{ticks}"
   createThread(trainingThread, trainingThreadProc, args)
   threadLaunched = true
 
@@ -147,10 +155,19 @@ method run(bot: PPOBot) =
       arenaHeight: float64(getArenaHeight()),
     )
 
-    let state = buildStateVector(botData, bot.tracker)
+    let remainingGotoDistance = hypot(bot.lastActions.gotoX - botData.x,
+                                      bot.lastActions.gotoY - botData.y)
+    let remainingGunAngle = abs(normalizeRelativeAngle(
+      directionTo(botData.x, botData.y, bot.lastActions.aimToX, bot.lastActions.aimToY) -
+      botData.gunDirection))
+    let state = buildStateVector(botData, bot.tracker, remainingGotoDistance, remainingGunAngle)
     let (rawActs, logP) = ac.actorForward(state)
     let value = ac.criticForward(state)
-    let acts = mapActions(rawActs, getSpeed().float32, getGunHeat().float32)
+    let acts = mapActions(rawActs,
+                          getGunHeat().float,
+                          botData.arenaWidth, botData.arenaHeight,
+                          botData.x, botData.y,
+                          botData.direction, botData.speed, botData.gunDirection)
 
     # Compute tick reward from energy deltas
     let curEnergy   = getEnergy().float32
@@ -182,6 +199,7 @@ method run(bot: PPOBot) =
     bot.prevEnergy  = curEnergy
     bot.prevEnemyE  = curEnemyE
     bot.hasLastTrans = true
+    bot.lastActions  = acts
 
     setTargetSpeed(acts.targetSpeed.float)
     setTurnRate(acts.turnRate.float)