From 402985adbf3714daa1f63e956933a20db998cffa Mon Sep 17 00:00:00 2001 From: claude-re Date: Thu, 30 Jul 2026 17:49:38 +0000 Subject: [PATCH] pilot: escort-weighted targeting (DEFEND), plus the capital-ship keep-out it needed MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit While the asset is losing hull, target what is pressing IT — ranked by distance to the asset minus credit for closing on it — instead of what is nearest to us. Trigger and ranking both read the live hull (pos+0x154), so nothing is inferred. DEFEND engaged 1.9 s after the asset's first hit and held 54% of a 330 s run. It did NOT measurably save the asset: over the window two runs share, the policies are equal to within noise (t=239: 23218 vs 23038). Two reasons, both recorded rather than papered over: the runs are not comparable past that window (spawn timing differs and the hostile count GREW 134->166 in one, fell 147->118 in the other), and the real bottleneck is lethality — the guns are on for 12% of combat frames because the target is outside the 9 deg cone the rest of the time. Also corrects a single-run claim in the previous commit: the asset is NOT reliably safe for the first ~170 s. A second run had first damage at t=70 s. The stage does not replay identically; only 'the loss is slow' survives. Fixes a fatal bug the new mode exposed: DEFEND flies at the asset, which sits inside the friendly formation, and the first escort run went hull 1500 -> DEAD in one tick at 2026 units/s, 0.6 s from a friendly destroyer that avoidance thought it would clear by 365 units — the ship's radius is 2000. Keep-out applied only to hostile turrets. Every entity above BIG_RADIUS now gets its own radius + 800 of physical keep-out with braking inside it, whatever its faction. --- ...ission-state-stage02-escort-weighted.jsonl | 330 ++++++++++++++++++ docs/re/mission-escort-state.md | 62 +++- tools/re-capture/pilot.py | 145 +++++++- 3 files changed, 524 insertions(+), 13 deletions(-) create mode 100644 docs/re/captures/mission-state-stage02-escort-weighted.jsonl diff --git a/docs/re/captures/mission-state-stage02-escort-weighted.jsonl b/docs/re/captures/mission-state-stage02-escort-weighted.jsonl new file mode 100644 index 0000000..708274b --- /dev/null +++ b/docs/re/captures/mission-state-stage02-escort-weighted.jsonl @@ -0,0 +1,330 @@ +{"t": 0.0, "n": 150, "adan": 134, "tcaf": 16, "ents": [{"va": 3182542208, "nm": "UN_f106_TCAF_Destroyer", "fac": "TCAF", "r": 2000.0, "hull": 10000.0, "hp0": 10000.0, "drop": 0.0, "pos": [13547.0, 10000.0, 3384.0]}, {"va": 3182628224, "nm": "UN_f106_TCAF_Destroyer", "fac": "TCAF", "r": 2000.0, "hull": 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"pos": [11599.6, -1332.7, 4179.8]}, {"va": 3184020864, "nm": "UN_e007_ADAN_Turret", "fac": "ADAN", "r": 22.0, "hull": 60.0, "hp0": 100.0, "drop": 40.0, "pos": [8331.3, -1433.7, 3868.0]}, {"va": 3184029056, "nm": "UN_e007_ADAN_Turret", "fac": "ADAN", "r": 22.0, "hull": 50.0, "hp0": 100.0, "drop": 50.0, "pos": [8361.1, -2181.4, 5184.3]}, {"va": 3184037248, "nm": "UN_e007_ADAN_Turret", "fac": "ADAN", "r": 22.0, "hull": 60.0, "hp0": 100.0, "drop": 40.0, "pos": [9787.9, -528.6, 3789.8]}, {"va": 3184045440, "nm": "UN_e010_ADAN_Attacker_S", "fac": "ADAN", "r": 100.0, "hull": 495.0, "hp0": 500.0, "drop": 5.0, "pos": [14125.4, -62.5, 2436.0]}, {"va": 3184053632, "nm": "UN_e010_ADAN_Attacker_S", "fac": "ADAN", "r": 100.0, "hull": 485.0, "hp0": 500.0, "drop": 15.0, "pos": [18622.6, -1107.2, 3107.0]}, {"va": 3184061824, "nm": "UN_e010_ADAN_Attacker_S", "fac": "ADAN", "r": 100.0, "hull": 490.0, "hp0": 500.0, "drop": 10.0, "pos": [14622.8, -490.6, 995.9]}, {"va": 3184094592, "nm": "UN_e007_ADAN_Turret", "fac": "ADAN", "r": 22.0, "hull": 90.0, "hp0": 100.0, "drop": 10.0, "pos": [6647.2, -3049.4, -2780.2]}, {"va": 3184225664, "nm": "UN_e106_ADAN_Destroyer", "fac": "ADAN", "r": 2100.0, "hull": 4400.0, "hp0": 10000.0, "drop": 5365.0, "pos": [-25500.0, -1000.0, 7041.4]}, {"va": 3184233856, "nm": "UN_e106_ADAN_Destroyer", "fac": "ADAN", "r": 2100.0, "hull": 10000.0, "hp0": 10000.0, "drop": 0.0, "pos": [-26500.0, 0.0, 2414.2]}, {"va": 3184242048, "nm": "UN_e106_ADAN_Destroyer", "fac": "ADAN", "r": 2100.0, "hull": 9375.0, "hp0": 10000.0, "drop": 625.0, "pos": [-25500.0, -1500.0, -2816.6]}, {"va": 3184250240, "nm": "UN_e106_ADAN_Destroyer", "fac": "ADAN", "r": 2100.0, "hull": 9010.0, "hp0": 10000.0, "drop": 950.0, "pos": [-23500.0, -1000.0, -7242.6]}, {"va": 3184258432, "nm": "UN_e106_ADAN_Destroyer", "fac": "ADAN", "r": 2100.0, "hull": -0.0, "hp0": 10000.0, "drop": 10000.0, "pos": [-5.3, 2.0, 1.9]}, {"va": 3184266624, "nm": "UN_e106_ADAN_Destroyer", "fac": "ADAN", "r": 2100.0, "hull": 2540.0, "hp0": 10000.0, "drop": 7460.0, "pos": [-31000.0, -1500.0, -36.1]}, {"va": 3184274816, "nm": "UN_e106_ADAN_Destroyer", "fac": "ADAN", "r": 2100.0, "hull": 7675.0, "hp0": 10000.0, "drop": 1825.0, "pos": [-29000.0, 500.0, -6840.2]}, {"va": 3184283008, "nm": "UN_e105_ADAN_Cruiser", "fac": "ADAN", "r": 3800.0, "hull": 30000.0, "hp0": 30000.0, "drop": 0.0, "pos": [-29500.0, 500.0, 3218.9]}, {"va": 3184291200, "nm": "UN_e105_ADAN_Cruiser", "fac": "ADAN", "r": 3800.0, "hull": 28900.0, "hp0": 30000.0, "drop": 1070.0, "pos": [-24500.0, 1500.0, 43.0]}, {"va": 3184299392, "nm": "UN_e105_ADAN_Cruiser", "fac": "ADAN", "r": 3800.0, "hull": 30000.0, "hp0": 30000.0, "drop": 0.0, "pos": [-29000.0, 2000.0, -3218.9]}, {"va": 3184307584, "nm": "UN_e010_ADAN_Attacker_S", "fac": "ADAN", "r": 100.0, "hull": 390.0, "hp0": 500.0, "drop": 110.0, "pos": [15848.8, 6541.4, 7411.1]}, {"va": 3184315776, "nm": "UN_e010_ADAN_Attacker_S", "fac": "ADAN", "r": 100.0, "hull": 220.0, "hp0": 500.0, "drop": 280.0, "pos": [14193.2, 9780.9, 3725.1]}, {"va": 3184323968, "nm": "UN_e010_ADAN_Attacker_S", "fac": "ADAN", "r": 100.0, "hull": 415.0, "hp0": 500.0, "drop": 85.0, "pos": [8053.8, 20039.4, 2613.3]}, {"va": 3184332160, "nm": "UN_e010_ADAN_Attacker_S", "fac": "ADAN", "r": 100.0, "hull": 285.0, "hp0": 500.0, "drop": 215.0, "pos": [17099.3, 8919.7, 2027.4]}]} diff --git a/docs/re/mission-escort-state.md b/docs/re/mission-escort-state.md index 80faa11..5b784d8 100644 --- a/docs/re/mission-escort-state.md +++ b/docs/re/mission-escort-state.md @@ -33,11 +33,13 @@ five distinct HP values**: | `UN_e105_ADAN_Cruiser` | 3800 | 30000 | 30000.0 | | **`UN_f101_TCAF_Acropolis`** | 1400 | **25000** | **25000.0** | -Of the 18 capital ships present at t=0, 13 sat exactly at their `HP`; the other 5 -sat *slightly below* it (9800/10000, 29933.3/30000, 9725/10000, 9950/10000, -9750/10000) — the battle is already in progress when the player launches, so those -five had already been shot at. **Nothing read above its `HP`, and nothing read an -unrelated number**, which is what a coincidental offset would produce. +Measured directly by `mission_state.py scan` at the start of three separate runs: +**146/150, 147/150 and 147/150 entities** hold exactly their definition's `HP` at +`pos+0x154`. The handful that do not sit *slightly below* it (9800/10000, +29933.3/30000, 9725/10000, …) — the battle is already in progress when the player +launches, so those ships have already been shot at. **Nothing read above its `HP`, +and nothing read an unrelated number**, which is what a coincidental offset would +produce. The value behaves like a live counter, not a copy of the definition: @@ -65,13 +67,14 @@ t= 210.1s 24149.5 t= 239.1s 23038.2 -1961.8 total, ≈ -600 HP/min once it starts ``` -Two useful consequences: - -1. **The attack on the asset starts late** (~t≈170 s here) and then runs at roughly - 600 HP/min, i.e. ~40 min to sink from full. The earlier `GAME OVER` run therefore - did not lose because the loss is fast — it lost because nothing was defending. -2. **The asset is not in danger for the first ~2–3 minutes**, so an escort policy has - time to spend on offence early and should tighten later. +**⚠️ Onset is NOT a fixed schedule — corrected by a later run.** From this run alone +it looked like the asset is safe for the first ~170 s. A second run put the first +damage at **t = 70 s**, and its hostile population *grew* (134 → 166 ADAN) where this +one's shrank (147 → 118). So the stage is not replaying identically, and "the asset +is untouched early" is a property of one run, not of Stage 02. What survives the +second run is the weaker, still useful claim: **the loss is slow** — a few hundred to +~1400 HP/min against 25000, so tens of minutes to sink. The earlier `GAME OVER` +therefore was not a fast loss; it was an undefended one. ## Also captured @@ -83,6 +86,41 @@ Two useful consequences: alive, so that counter is **objectives, not hostiles** — its RAM address is still unknown (❔ open). +## Escort-weighted targeting — implemented, and what it did NOT fix + +`pilot.py` gained a **DEFEND** mode (2026-07-30): while the asset is losing hull, +target the hostiles pressing *it* — ranked by distance to the asset minus credit for +closing on it — instead of the ones nearest to us. Trigger and ranking both read the +live hull, so nothing is inferred. + +It works mechanically: DEFEND engaged **1.9 s after the asset's first hit** in one run +(t=167.0), and held for 54 % of a 330 s run. **But it did not measurably save the +asset.** Over the window the two policies share, they are the same to within noise: + +| t (s) | nearest-fighter | escort-weighted | +|---|---|---| +| 120 | 25000.0 | 24910.0 | +| 180 | 24779.5 | 24460.0 | +| 239 | 23038.2 | 23218.0 | + +Two honest reasons it cannot yet be scored better than "no worse": + +1. **The runs are not comparable past that window** — different spawn timing and, in + the escort-weighted run, a hostile population that *grew* 134 → 166 while the + baseline's fell 147 → 118. +2. **Lethality is the real bottleneck, not target choice.** The guns are on for only + **12 % of combat frames** (320 of 2630); the rest of the time the target is outside + the 9° firing cone while the loop manoeuvres. Choosing a better target does little + when most passes do not shoot. + +**One bug found and fixed by the first escort run** (worth keeping as a pattern): the +new mode flies *at* the asset, which sits inside the friendly formation, and the run +ended `hull 1500 -> DEAD` in a single tick at 2026 units/s, 0.6 s from a friendly +destroyer the avoidance expected to clear by 365 units — against a hull of radius +2000. Keep-out had been applied only to hostile turrets. Every entity above +`BIG_RADIUS` now gets a physical keep-out of **its own radius + 800**, with braking +inside it, whatever its faction; the next run survived its full 330 s untouched. + ## Reimplementation notes - Defeat conditions for an escort stage are readable as: protected-asset diff --git a/tools/re-capture/pilot.py b/tools/re-capture/pilot.py index 936b955..dd7eec7 100644 --- a/tools/re-capture/pilot.py +++ b/tools/re-capture/pilot.py @@ -18,6 +18,7 @@ make a reaction possible: So the loop is a state machine on damage rather than a pure pursuit: ENGAGE chase and shoot the nearest hostile fighter + DEFEND the escorted asset is being attacked — go kill what is attacking IT EVADE entered the moment the hull drops — turn away from the threats, full throttle, jink; leave only after several quiet seconds RETIRE hull below a floor: break for the friendly capital ship, which the @@ -27,6 +28,19 @@ Turrets are treated as threats to be *kept at a distance*, not as targets: the objective is the invading fighters, and the turret is what killed every previous run. +**Why DEFEND exists, and why it is not simply "always guard the asset".** Stage +02 is an escort: a 240 s run ended in GAME OVER with our own hull at 1500/1500 +because the ACROPOLIS sank while the pilot chased the nearest fighter 2 km away. +But the measurement in docs/re/mission-escort-state.md says the asset is *not* +in danger early — it sat at a full 25000 for the first ~170 s and then lost +~600 HP/min, i.e. ~40 minutes to sink from full. So permanently orbiting it +would throw away most of the mission for nothing. The policy that fits the +measurement is: **fight freely until the asset is actually being hurt, then +switch to killing its attackers specifically.** Both the trigger and the target +choice are read live — every entity's hull is `position + 0x154`, confirmed for +seven classes, so "is the asset losing hull" and "which hostiles are closing on +it" are both observable rather than inferred. + Usage: pilot.py [seconds] [--dry] """ import json @@ -40,12 +54,21 @@ from collections import deque import numpy as np sys.path.insert(0, os.path.dirname(os.path.abspath(__file__))) +import gmem # noqa: E402 import navigator # noqa: E402 from navigator import ang, norm # noqa: E402 from flight_probe import Pad # noqa: E402 HULL_OFF = 0x154 # confirmed: == definition HP at spawn, falls when hit SHIELD_OFF = 0x430 # candidate: == definition Shield MaxValue at spawn +DEF_HP = 0x054 # unit-struct-runtime.md + +# Stage 02's protected asset. Named rather than derived: "the biggest friendly" +# picks the f105 cruiser (30000 HP > the Acropolis's 25000), and "the friendly +# with the most HP" picks it too, so neither rule finds the right ship. The +# per-stage asset is mission script, not a property of the entity, so it is +# configuration here — override with $SYLPH_ASSET for another stage. +ASSET_NAME = os.environ.get("SYLPH_ASSET", "Acropolis") class Pilot: @@ -56,6 +79,14 @@ class Pilot: EVADE_QUIET = 5.0 # seconds without damage before re-engaging RETIRE_FRAC = 0.30 # hull fraction that sends us home HZ = 8.0 + # --- escort --- + ASSET_GUARD = 9000.0 # hostiles this close to the asset count as its attackers + ASSET_QUIET = 20.0 # s of no asset damage before dropping out of DEFEND + ASSET_ALERT = 0.5 # HP of asset damage that counts as "under attack" + ASSET_STANDOFF = 3500.0 # loiter this far out when guarding with no target + HULL_CLEARANCE = 800.0 # clearance ON TOP of a capital ship's own radius + CLOSING_WEIGHT = 4.0 # s of closing-rate credit when ranking attackers + MY_RANGE_WEIGHT = 0.35 # how much our own distance discounts a target def __init__(self, W, pad, dry=False, log=sys.stdout): self.W = W @@ -72,6 +103,49 @@ class Pilot: self.hp0 = None self.last_hit = -1e9 self.threat_dir = None + # escort bookkeeping + self.def_hp = {} # def_va -> definition HP + for va in W.defs: + self.def_hp[va] = self.f32(gmem.va_to_off(va) + DEF_HP) + self.asset_hist = deque(maxlen=64) + self.asset_hp0 = None + self.asset_last_hit = -1e9 + + def f32(self, off): + b = os.pread(self.W.fd, 4, off) + if len(b) < 4: + return float("nan") + return struct.unpack(">f", b)[0] + + # ---------------------------------------------------------------- escort + def asset(self, ents): + """The protected ship, and its live hull — same anchor as everyone's.""" + for off, nm, p, v, r in ents: + if ASSET_NAME in nm: + hull = self.f32(off + HULL_OFF) + return off, nm, p, v, r, hull + return None + + def asset_attackers(self, hos, a_p): + """Hostile fighters near the asset, ranked by how hard they press it. + + Ranking is distance to the asset *minus* credit for closing on it, so a + fighter 4 km out and running in outranks one sitting at 2 km drifting + away. Turrets and hulls are excluded for the same reason as everywhere + else: they are not killable objectives, they are keep-out zones. + """ + out = [] + for off, nm, p, v, r, hard in hos: + if hard: + continue + rel = a_p - p + d = float(np.linalg.norm(rel)) + if d > self.ASSET_GUARD: + continue + closing = float(np.dot(norm(rel), v)) # +ve = moving at the asset + out.append((d - self.CLOSING_WEIGHT * max(closing, 0.0), off, nm, p, v, d)) + out.sort(key=lambda e: e[0]) + return out # ------------------------------------------------------------ own state def own(self, off): @@ -191,11 +265,28 @@ class Pilot: self.threat_dir = self.threat_vector(me_p, hos) frac = hull / self.hp0 if self.hp0 else 1.0 - # ---- mode + # ---- the escorted asset, read exactly like our own hull + ast = self.asset(ents) + a_frac, a_dmg = 1.0, 0.0 + if ast is not None: + a_hull = ast[5] + if self.asset_hp0 is None and math.isfinite(a_hull) and a_hull > 0: + self.asset_hp0 = a_hull + self.asset_hist.append((t, a_hull)) + recent = [h for (ts, h) in self.asset_hist if t - ts <= 4.0] + a_dmg = (max(recent) - a_hull) if recent else 0.0 + if a_dmg > self.ASSET_ALERT: + self.asset_last_hit = t + a_frac = a_hull / self.asset_hp0 if self.asset_hp0 else 1.0 + + # ---- mode. Our own survival still outranks the escort: a dead pilot + # defends nothing, and RETIRE/EVADE are what stopped us being shot down. if frac <= self.RETIRE_FRAC: self.mode = "RETIRE" elif t - self.last_hit < self.EVADE_QUIET: self.mode = "EVADE" + elif ast is not None and t - self.asset_last_hit < self.ASSET_QUIET: + self.mode = "DEFEND" else: self.mode = "ENGAGE" @@ -210,6 +301,34 @@ class Pilot: want = norm(away + jink) self.set_throttle(+1) fire = False + elif self.mode == "DEFEND": + # Kill what is hitting the ship, not what is nearest to us. Among + # the asset's attackers prefer the one pressing it hardest, with a + # modest discount for being closer to us so the loop does not fly + # past three targets to reach a marginally worse fourth. + atk = self.asset_attackers(hos, ast[2]) + best = None + for score, off, nm, p, v, d_a in atk: + d_me = float(np.linalg.norm(p - me_p)) + total = score + self.MY_RANGE_WEIGHT * d_me + if best is None or total < best[0]: + best = (total, off, nm, p, v, d_me) + if best is not None: + _, off, nm, p, v, d_me = best + speed_ref = max(speed, 300.0) + lead = p + v * (d_me / speed_ref) + tgt = (off, nm, lead, lead - me_p, d_me) + want = norm(tgt[3]) + self.set_throttle(+1 if d_me > 2500.0 else 0) + else: + # Nothing on it right now: hold station near the ship instead of + # wandering off, so the next wave is met at the asset. + rel = ast[2] - me_p + d = float(np.linalg.norm(rel)) + want = (norm(rel) if d > ast[4] + self.ASSET_STANDOFF + else norm(np.cross(rel, up))) + self.set_throttle(+1 if d > ast[4] + self.ASSET_STANDOFF else 0) + fire = True elif self.mode == "RETIRE": base = self.friendly_base(ents, me_off) if base is not None: @@ -245,6 +364,26 @@ class Pilot: want = norm(want + norm(me_p - p) * (2.0 * (1.0 - d / self.TURRET_KEEPOUT))) break + # A capital ship is a wall, whatever its faction. DEFEND flies at the + # asset — which sits in the middle of the friendly formation — and the + # first escort run ended with hull 1500 -> DEAD in a single tick at + # 2026 units/s, 0.6 s from a friendly destroyer that the avoidance + # thought it would clear by 365 units. A destroyer's own radius is + # 2000. Closest-point-of-approach with a fighter-sized margin cannot + # keep us out of something that big, so give every large entity a hard + # physical keep-out scaled by ITS radius and brake inside it. + for off, nm, p, v, r in ents: + if off == me_off or r < navigator.Navigator.BIG_RADIUS: + continue + rel = me_p - p + d = float(np.linalg.norm(rel)) + keep = r + self.HULL_CLEARANCE + if d < keep: + want = norm(want + norm(rel) * (2.5 * (1.0 - d / keep))) + if speed > 900.0: + self.set_throttle(-1) + break + pn = float(np.linalg.norm(push)) if pn > 1e-6: want = norm(want + push * (3.0 if pn > 0.6 else 1.5)) @@ -269,6 +408,10 @@ class Pilot: f"thr={self.throttle:+d} yaw={math.degrees(yaw):+6.1f} " f"pit={math.degrees(pitch):+6.1f} aim={math.degrees(aim[0]):+6.1f}" f"/{math.degrees(aim[1]):+6.1f} fire={int(fire)}") + if ast is not None: + msg += f" ast={a_frac*100:5.1f}%" + if a_dmg > self.ASSET_ALERT: + msg += f" ASSET-HIT -{a_dmg:.0f}" if dmg > 0.5: msg += f" HIT -{dmg:.0f}" if tgt: