3 Commits

Author	SHA1	Message	Date
SirStone	cdde60d79f	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>	2026-08-17 19:20:40 +02:00
SirStone	aea0724d3a	fix(PPO_Bot): radar oscillation, Adam persistence, checkpoint order, channel race ... - enemy_tracker: toggle lastOvershootDir each tick; make getRadarTurnRate take var tracker - training: remove threadvar Adam globals; pass adamStates as var param to ppoUpdate; export ACAdamStates - PPO_Bot: carry ACAdamStates through TrainingArgs/TrainingResult; drop trainingDone bool and Lock — use resultChan.tryRecv() directly as synchronisation - weights: sort checkpoint dirs newest-first by mtime instead of hardcoded order - tests/test_training: pass explicit ACAdamStates to ppoUpdate Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-08-16 15:42:06 +02:00
SirStone	eadd177d3b	feat(PPO_Bot): reward + trajectory + GAE + PPO training (#16) ... Manual-backprop PPO with Adam: TrajectoryBuffer, computeGAE, ppoUpdate (4 epochs, minibatch 64, clip 0.2, grad norm 0.5). Reward helpers computeTickReward/computeRoundReward. Bot wired: tick transitions collected in run loop, ppoUpdate called on onRoundEnded. Fix: add arraymancer import to PPO_Bot.nim so Tensor resolves at top level. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-08-16 15:27:15 +02:00