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Sim realism, goal-based strategy evaluation, regression moments, and on-pitch pictures - #146

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isaac0804 merged 142 commits into

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sim-realism-20261016

Oct 17, 2026

Merged

Sim realism, goal-based strategy evaluation, regression moments, and on-pitch pictures#146
isaac0804 merged 142 commits into
mainfrom
sim-realism-20261016

Commits on Oct 14, 2026
- Bump pre-commit ruff to v0.15.12 and move lint keys under [lint]
  
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- Move strategy_table into utama_core.analysis
  
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- Remove unused defense, referee, rsim and obstacle helpers
  
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- Remove unused scenario banks v5 and v6
  
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- Split strategy_runner into side, sim-recovery, vision-stream and live-status modules
  
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- Share one git_revision helper between the benchmark and scenario-bench tools
  
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- Point the real-robots work-area row at its doc and the real data_processing path
  
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- Drop duplicate linux-64 main task and document build-planner
  
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- Replace vector.py's __main__ self-check with a unit assertion
  
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- Remove unreferenced pipeline.drawio.png diagram
  
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- Remove leftover commented-out class signatures and a stub
  
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- Remove the duplicate referee GUI demo from the test tree
  
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- Drop motion_stats' unused Optional import
  
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Commits on Oct 16, 2026
- docs: sim realism plan, with value-model and structured-search priorities
  
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- physics_ranges: ball deceleration, robot motion and dropout ranges from replays
  
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- Realism scorecard: shot detection, real xG and shot outcomes in utama_core/analysis/realism
  
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- Merge realism/physics-ranges: ball, robot motion and dropout ranges
  
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- sim_realism.md: Phase 1 ball, robot motion and dropout results
  
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- Seeded sim noise: per-robot latency, kick speed noise, vision noise
  
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- STRATEGY_DEVELOPMENT.md: resolve leftover merge-conflict markers
  
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- Merge realism/sim-knobs: seeded latency, kick speed and vision noise (with repo hygiene base)
  
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- round_robin: key cached matches and the summary by --match-seconds
  
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- Realism scorecard reference: real 2025-2026 Division B xG model and rows
  
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- Merge realism/scorecard: realism scorecard and real xG reference
  
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- sim_realism.md: Phase 0 done; correct live time and pooled ratios
  
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- sim_realism.md: robot motion reflects the planner as well as hardware
  
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- convert_ssl_log: keep the tracker's kicks, visibility and raw camera detections as sidecars
  
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- Merge realism/converter-extras: keep tracker kicks, visibility and raw vision
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- Realism scorecard: post vs wide vs crossed, reaction time, pass offset, more rows
  
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- convert_ssl_log: --keep-raw keeps each download per year and reuses it
  
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- sim_realism.md: robots fielded, breakdowns, stoppages, held-out years
  
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- WIP: scorecard extension unfinished items
  
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- WIP: SimNoise physics knobs: ball friction, kick direction, substeps, motion limits
  
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- convert_ssl_log: cap each conversion's memory (--max-memory-gb, default 7)
  
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- Realism reference rebuilt from 53 real 2025-26 Div B matches (new rows)
  
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- Format physics knobs (black)
  
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- Merge realism/physics-knobs: SimNoise ball friction, kick direction, substeps, motion caps (off by default)
  
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- FORK_NOTES: physics-knobs rSim build installed, knobs-off match identical
  
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- convert_ssl_log: resume a download the share cut short, check sizes
  
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- Test: a dribbled ball stays at the kicker with two-phase ball friction
  
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- sim_realism.md: raw vision noise, kick spread, first two calibration samples
  
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- Realism shots: a ball already past the goal line is not a shot
  
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- Realism reference rebuilt without post-goal bounces (959 attempts, AUC 0.833)
  
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- Merge realism/scorecard-more: wide/post/crossed split, reaction time, pass proxy, rebuilt reference
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- Test fake for _download takes the expected size
  
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- sim_realism.md: post-goal bounces removed from the real reference; keeper gap first look
  
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- sim_realism.md: first sensitivity sweep (seed, latency, kick direction)
  
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- pixi builds rc-robosim from vendor/rSim (our fork), not the PyPI 1.2
  
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- FORK_NOTES: how to rebuild after a source change
  
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- sim_realism.md: chips ruled out as the keeper gap
  
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- Merge branch 'realism/rsim-build' into sim-realism-20261016
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- sim_realism.md: 28-match v3 sample
  
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- Merge remote-tracking branch 'origin/cleanup/repo-hygiene' into sim-realism-20261016
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- sim_realism.md: new baseline round-robin with v3 noise
  
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- sim_realism.md: real-data value model, first results
  
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- sim_realism.md: value model pass 3 (data fixes)
  
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Commits on Oct 17, 2026
- Expected standings: rank strategies by shots on target as well as goals
  
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- Strategy evaluation: reference pool, paired sequential test, match ledger
  
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- Evaluation docs cleanup; retire the ladder
  
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- Fingerprints ignore comments, docstrings and formatting
  
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- Retire the scenario bench
  
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- Regression moments: replayed field states with a fixed check
  
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- Referee override: push-out targets in a corner stay on the pitch
  
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- Planner: a robot pressed against another robot may drive straight away
  
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- Regression moments: three more field states from the 20261017 run
  
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- Regression moments: hand-made templates and tactic moments
  
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- Merge branch 'worktree-agent-a99981719ccc76470' into sim-realism-20261016
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- Regression moments: a tactic that never runs fails; play --seed, fouls restart side, capture --out
  
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- Planner: a robot inside the ball's keep-out circle never closes on the ball
  
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- Regression moments: requires and outcome checks
  
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- Regression moments: keeps_clear measures the robot's own approach; retarget the two xfails
  
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- Merge requires conditions and outcome checks for regression moments
  
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- Referee: a free kick is taken once the ball moves 0.05 m
  
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- Regression moments: our_placement_completes known_failure gives the cause
  
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- Regression moments: remove tactic moments and unused checks
  
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- Docs: debugging a foul or failure, with the bugs found so far
  
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- Ball placement: our placer routes round the ball to its approach point
  
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- Regression moments: drop our_placement_completes and its check
  
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- Moments: play under seeds, against another commit, events, scratch strategies
  
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- Moments: play --against runs this judge on the other commit's code
  
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- Docs: a reproducing moment is not required; what to try when a capture does not reproduce
  
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- Scenario: a time counts from the replay's first frame, as the sidecar and fouls do
  
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- repro_from_replay: --help says which strategy name forms it takes
  
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- moments fouls: --by counts per strategy, rule, tactic or restart; out_of_bounds is a stoppage
  
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- Rolling-ball receive point: clamp to the field
  
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- moments: play --follow steers opponents along their recorded poses
  
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- Revert "moments: play --follow steers opponents along their recorded poses"
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- Docs: debug a foul from the trace to the code; moments only for restart geometry
  
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- Hide pygame's support banner in tool and test output
  
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- Add tools/setup_worktree.sh for parallel-agent worktrees
  
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- replay_trace: --events lists kicks, possession, referee and fouls; --json
  
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- repro_from_replay: --summary per robot; document the --trace-out JSONL rows
  
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- moments fouls: --json
  
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- Debugging a foul: mention --events, --summary, --json and setup_worktree
  
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- fix(carry): count reaction time before braking in carry_exhausted
  
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- repro_from_replay: play with the replay's own sim noise by default
  
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- moments fouls --json: name each foul's match replay
  
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- Planner: push a robot inside the ball's keep-out past the edge, not onto it
  
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- Release hygiene: no local paths in the realism reference, stale bench mentions
  
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- FORK_NOTES: pixi builds this fork now; fresh-clone build checked
  
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- Catalog and signal report: results of the 2026-10-17 round-robin
  
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- Signal report: figures that explain results, not rank colours
  
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- Add plan_snapshot: draw what FastPathPlanner decided on one tick
  
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- Document plan_snapshot and add the kick-off keep-out example
  
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- Motion-planning benchmark: --figures for trajectories and a summary
  
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- Docs: README one-tick diagram from the current code
  
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- Tools: package dependency graph, with the replay/analysis import rule
  
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- Docs: flowcharts for debugging a foul and for evaluating a strategy
  
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- Docs: Mermaid diagrams for the tactic-kernel model and referee restarts
  
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- Docs: diagram the per-tick partition order in tactic model design decisions
  
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- Docs: Mermaid diagrams for match data, goal ledger and signals
  
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- Docs: Mermaid diagrams for the rsim tick and the real robot path
  
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- Docs: referee state machine, architecture and foul-to-restart diagrams
  
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- Docs: motion-planning control-scheme and FastPathPlanner decision diagrams
  
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- Docs: referee prose matches the code; fpp diagram shows _leaving as a filter
  
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- tools: match_timeline swimlanes for one match window
  
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- docs: match_timeline in tools.md and the observability section
  
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- Add restart picture: where the referee override sends every robot
  
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- Docs: restart picture in Referee handling, tools row, example images
  
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- Add plan_trace: the fast-path planner over a time window
  
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- Docs: plan_trace in tools.md, debugging guide and the fpp section
  
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- Add tools/pitch_maps.py: how each strategy plays, on the pitch
  
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- Docs: on-the-pitch figures for the signal report
  
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- evaluate.py --explain: on-pitch pictures of a candidate against the champion
  
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- Docs: --explain pictures, with the round-robin example
  
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- Add a shared Finding format; match_timeline, plan_trace and pitch_maps write findings
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- restart_picture writes findings for every restart; the stop deadband is 1 cm
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- Docs: --findings on the four picture tools and the Finding format
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- tactic_thrash counts flip-backs, not switches
  
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- Docs: visual_guide.md, the game drawn on the pitch
  
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- Add tools/triage.py: findings, pictures and an index per run dir
  
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- Docs: triage.py is the start of a match diagnosis
  
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- triage: picture a stall with the match timeline, not a guessed plan_trace
  
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- Docs: triage as the start of the visual guide, with a stall it found
  
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- Docs: position and shot maps in the README and glossary; what the lines are
  
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- Docs: README opens with the position and shot maps
  
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- Docs: README cleanup
  
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- Docs: README without the strategy maps; they stay in the visual guide
  
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- Docs: a drawn one-tick pipeline picture for the README and pipeline_method
  
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- Docs: shared style for drawn pictures, and a test that their names exist
  
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- Docs: seven architecture diagrams drawn instead of Mermaid
  
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- Tests: corner-route seed 28 may stick on some CPUs
  
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Commits

Commits on Oct 14, 2026

Commits on Oct 16, 2026

Commits on Oct 17, 2026