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/actions.nim

@@ -2,32 +2,44 @@
 
 import arraymancer
 import std/math
+import ./controllers
+
+func sigmoid(x: float): float = 1.0 / (1.0 + exp(-x))
 
 type
   BotActions* = object
-    targetSpeed*:  float32
-    turnRate*:     float32
-    gunTurnRate*:  float32
+    targetSpeed*:  float
+    turnRate*:     float
+    gunTurnRate*:  float
     shouldFire*:   bool
-    firePower*:    float32
+    firePower*:    float
+    gotoX*:        float
+    gotoY*:        float
+    aimToX*:       float
+    aimToY*:       float
 
-proc mapActions*(rawActions: Tensor[float32], currentSpeed: float32, gunHeat: float32): BotActions =
-  ## rawActions: [5] tensor from actorForward.
-  ## Ranges:
-  ##   targetSpeed  ∈ [-8, 8]
-  ##   turnRate     ∈ [-(10 - 0.75|v|), (10 - 0.75|v|)]
-  ##   gunTurnRate  ∈ [-20, 20]
-  ##   firePower    ∈ [0.1, 3.0]
-  let r0 = tanh(rawActions[0].float64).float32
-  let r1 = tanh(rawActions[1].float64).float32
-  let r2 = tanh(rawActions[2].float64).float32
-  let r3 = tanh(rawActions[3].float64).float32
-  let r4 = rawActions[4]
+proc mapActions*(rawActions: Tensor[float32],
+                 gunHeat: float,
+                 arenaWidth, arenaHeight: float,
+                 botX, botY, direction, speed, gunDirection: float): BotActions =
+  ## rawActions: [6] tensor from actorForward.
+  ## Dims 0–1: goto x/y, 2–3: aimTo x/y, 4: fire decision, 5: fire power.
+  let gotoX  = sigmoid(rawActions[0].float) * arenaWidth
+  let gotoY  = sigmoid(rawActions[1].float) * arenaHeight
+  let aimToX = sigmoid(rawActions[2].float) * arenaWidth
+  let aimToY = sigmoid(rawActions[3].float) * arenaHeight
+  let fireDec = tanh(rawActions[4].float)
+  let fp      = sigmoid(rawActions[5].float) * 2.9 + 0.1
 
-  result.targetSpeed  = r0 * 8.0'f32
-  result.turnRate     = r1 * (10.0'f32 - 0.75'f32 * abs(currentSpeed))
-  result.gunTurnRate  = r2 * 20.0'f32
-  let fireDecision    = r3
-  result.shouldFire   = fireDecision >= 0.0'f32 and gunHeat <= 0.0'f32
-  # sigmoid(r4) * 2.9 + 0.1 → [0.1, 3.0]
-  result.firePower    = (1.0'f32 / (1.0'f32 + exp(-r4.float64).float32)) * 2.9'f32 + 0.1'f32
+  let (ts, tr) = gotoTick(gotoX, gotoY, botX, botY, direction, speed)
+  let gtr      = aimToTick(aimToX, aimToY, botX, botY, gunDirection)
+
+  result.gotoX       = gotoX
+  result.gotoY       = gotoY
+  result.aimToX      = aimToX
+  result.aimToY      = aimToY
+  result.targetSpeed = ts
+  result.turnRate    = tr
+  result.gunTurnRate = gtr
+  result.shouldFire  = fireDec >= 0.0 and gunHeat <= 0.0
+  result.firePower   = fp