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Consensus tracker + active scan close Webots 140° LiDAR gap

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Two deploy-time fixes that take v1 360°-trained BC/RL from 0/n to n/n
penned on the canonical 140° LiDAR proto for diff/field:

* SheepTracker now supports a consensus stage: new detections start as
  candidate tracks invisible to get_positions(). A candidate must
  accumulate consensus_k matches within consensus_radius_m of itself
  inside a consensus_max_age window to be promoted; otherwise it
  expires. Real sheep self-confirm within 3 frames (≪0.05 m/step);
  wall-return cluster centroids jitter beyond 0.3 m as the dog moves
  and never promote. consensus_k=1 (default) is a no-op so unconfigured
  callers and HERDING_DEFAULT keep prior behaviour.
* HERDING_WEBOTS preset gets consensus_k=3, radius=0.3, max_age=20,
  plus longer forget_steps=300 and predict_steps=180 so confirmed
  sheep persist through long FOV-occlusion gaps a narrow 140° cone
  produces. max_new_tracks_per_step=1 still rate-caps spawn bursts.
* shepherd_dog.py BC/RL empty-obs fallback now rotates the desired
  heading with step_count so the cone actively sweeps the field
  instead of driving due north into the wall.

Verified in headless Webots (HERDING_USE_GT=0, LiDAR only):
  BC diff/field:        5/5 @ 11698, 10/10 @ 15079
  RL diff/field:        5/5 @ 10039, 9/10 @ 18200 (timeout)
  Strömbom diff/field:  5/5 @ 7528
All previously 0/n. 120 unit tests pass; 9 new consensus tests cover
the candidate stage, promotion radius, and one-shot phantom rejection.

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
This commit is contained in:
Johnny Fernandes
2026-05-16 20:19:11 +00:00
parent 876e14e74f
commit 2d23289052
5 changed files with 312 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
controllers/shepherd_dog/shepherd_dog.py
+14 -12
View File
@@ -430,9 +430,13 @@ while robot.step(timestep) != -1:
if not sheep_positions:
# BC/RL never saw "empty obs during operation" in training (empty
# obs only happened at episode end), so the policy outputs ~zero
# and the dog gets stuck. Fall back to a fixed scan rotation
# until tracker recovers some sheep.
vx, vy = 0.0, 0.6
# and the dog gets stuck. Fall back to an *active scan*: rotate
# the desired heading slowly so the narrow 140° FOV sweeps the
# field instead of charging in one fixed direction (which
# otherwise drives the dog into the north wall and ends the run).
scan_h = (step_count * 0.015) % (2.0 * math.pi)
vx = 0.5 * math.cos(scan_h)
vy = 0.5 * math.sin(scan_h)
omega = 0.5 if DRIVE_MODE == "mecanum" else 0.0
else:
action = policy_handle.predict(single_obs)
@@ -498,15 +502,13 @@ while robot.step(timestep) != -1:
gt_penned = sum(1 for x, y in _gt_sheep.values()
if is_penned_position(x, y))
gt_total = len(_gt_sheep)
print(f"[dog mode={MODE} drive={DRIVE_MODE}] step={step_count} "
common = (f"[dog mode={MODE} drive={DRIVE_MODE}] step={step_count} "
f"GT_penned={gt_penned}/{gt_total} "
f"tracks_active={tracker.n_active()} "
f"tracks_cand={tracker.n_candidate()} "
f"tracks_penned={tracker.n_penned()} "
f"detections={len(detections)} "
f"action=({vx:+.2f}, {vy:+.2f}, {omega:+.2f})"
if DRIVE_MODE == "mecanum" else
f"[dog mode={MODE} drive={DRIVE_MODE}] step={step_count} "
f"GT_penned={gt_penned}/{gt_total} "
f"tracks_active={tracker.n_active()} "
f"tracks_penned={tracker.n_penned()} "
f"detections={len(detections)} action=({vx:+.2f}, {vy:+.2f})")
f"detections={len(detections)}")
if DRIVE_MODE == "mecanum":
print(f"{common} action=({vx:+.2f}, {vy:+.2f}, {omega:+.2f})")
else:
print(f"{common} action=({vx:+.2f}, {vy:+.2f})")
herding/config.py
+51 -3
View File
@@ -175,6 +175,26 @@ class TrackerConfig:
from permanently consuming tracker slots as false "penned" sheep.
"""
consensus_k: int = 1
"""New tracks must accumulate this many matches before they appear in
``get_positions``. ``1`` (default) disables the candidate stage —
behaviour-identical to the original tracker. ``3-4`` filters one-shot
LiDAR phantoms in Webots while a real sheep promotes within
``consensus_k * timestep`` ≈ 50-65 ms.
"""
consensus_radius_m: float = 0.5
"""Maximum distance (metres) between successive matches for a candidate
to age toward promotion. Tighter than ``gate_m`` so wall-cluster
centroid jitter cannot keep a phantom alive. Real sheep move
≪ 0.05 m / step at max speed so this gate is very loose for them.
"""
consensus_max_age: int = 8
"""A candidate that has not been matched for this many steps is dropped.
Short — phantoms get one window to confirm or die.
"""
def __post_init__(self) -> None:
if self.forget_steps < 1:
raise ValueError(f"forget_steps must be ≥ 1, got {self.forget_steps}")
@@ -182,6 +202,16 @@ class TrackerConfig:
raise ValueError(
f"max_new_tracks_per_step must be ≥ 1, got {self.max_new_tracks_per_step}"
)
if self.consensus_k < 1:
raise ValueError(f"consensus_k must be ≥ 1, got {self.consensus_k}")
if self.consensus_radius_m <= 0.0:
raise ValueError(
f"consensus_radius_m must be > 0, got {self.consensus_radius_m}"
)
if self.consensus_max_age < 1:
raise ValueError(
f"consensus_max_age must be ≥ 1, got {self.consensus_max_age}"
)
# ---------------------------------------------------------------------------
@@ -317,9 +347,13 @@ HERDING_WEBOTS = HerdingConfig(
lidar=LIDAR_WEBOTS,
detection=DetectionConfig(wall_reject=0.5, static_reject=1.2),
tracker=TrackerConfig(
forget_steps=120,
forget_steps=300,
max_new_tracks_per_step=1,
pen_latch_depth=2.0,
predict_steps=180,
consensus_k=3,
consensus_radius_m=0.3,
consensus_max_age=20,
),
robot=RobotConfig(action_smooth=0.55),
)
@@ -329,7 +363,21 @@ Changes vs HERDING_DEFAULT:
* LiDAR: 180 rays / 140° FOV matching ShepherdDog.proto hardware
* Detection: wall_reject kept at 0.5 m (original default; static_reject
handles post FPs; 1.0 m was too aggressive near the south gate)
* Tracker: forget_steps 200 → 60 (~1 s ghost-track lifetime)
max_new_tracks_per_step 10 → 3 (rate-caps FP flooding)
* Tracker:
- consensus_k=3, radius=0.3 m, max_age=20 (~320 ms window): a new
detection must be confirmed by two more nearby detections within
a tight 0.3 m radius to promote. Real sheep barely move
frame-to-frame (≪0.05 m/step) so they easily self-confirm while
the dog is rotating across them; wall-return phantoms whose
cluster centroid jitters by more than 0.3 m as the dog moves
can't accumulate three nearby hits and decay as separate
candidates.
- forget_steps=300 (~4.8 s) + predict_steps=180 (~2.9 s): once a
real sheep is confirmed, it lives in tracker memory long enough
for the policy — trained on 360° full-visibility obs — to plan
while the dog sweeps a sparse cone across the field. Set short
enough that any phantom that does leak through promotion dies
after the dog walks away from the wall that created it.
- max_new_tracks_per_step=1 still rate-caps spawn bursts.
* Robot: action_smooth 0.0 → 0.55 (matches Webots controller EMA)
"""
herding/perception/sheep_tracker.py
+136 -24
View File
@@ -17,6 +17,16 @@ until ``FORGET_STEPS`` deletes it entirely.
A track is marked penned once its estimated position crosses the gate
plane south (``is_penned_position``). Penned tracks are excluded from
``get_positions`` and kept indefinitely.
**Consensus promotion** (``consensus_k > 1``): every new detection
starts as a *candidate* track that is invisible to ``get_positions``.
It must be matched ``consensus_k`` times within a tight radius
(``consensus_radius_m``) before being promoted to a regular track.
Candidates that fail to re-confirm within ``consensus_max_age`` steps
are deleted. The cost is a small acquisition latency
(``consensus_k * timestep`` ≈ 65 ms) in exchange for rejecting the
one-shot LiDAR phantom returns Webots produces from real-world 3D
geometry. ``consensus_k=1`` disables the stage entirely (default).
"""
from __future__ import annotations
@@ -43,17 +53,39 @@ VELOCITY_CLAMP = 1.0 # m/s — max predicted speed (sheep max is ~0.78 m/s)
class Track:
"""Single track with position, velocity, and age."""
"""Single track with position, velocity, and age.
__slots__ = ("x", "y", "vx", "vy", "last_seen", "penned")
Attributes
----------
candidate
``True`` while the track has not yet accumulated enough
consensus matches to be visible (``hit_count < consensus_k``).
Candidates are excluded from :meth:`SheepTracker.get_positions`
and from the active/penned counters.
hit_count
Number of detections this track has absorbed since spawn,
used by the consensus filter.
"""
def __init__(self, x: float, y: float, step: int, penned: bool = False):
__slots__ = ("x", "y", "vx", "vy", "last_seen", "penned",
"candidate", "hit_count")
def __init__(
self,
x: float,
y: float,
step: int,
penned: bool = False,
candidate: bool = False,
):
self.x = x
self.y = y
self.vx = 0.0
self.vy = 0.0
self.last_seen = step
self.penned = penned
self.candidate = candidate
self.hit_count = 1
@property
def age(self) -> int:
@@ -122,6 +154,9 @@ class SheepTracker:
self._velocity_clamp = tracker_cfg.velocity_clamp
self._max_new_per_step = tracker_cfg.max_new_tracks_per_step
self._pen_latch_depth = tracker_cfg.pen_latch_depth
self._consensus_k = tracker_cfg.consensus_k
self._consensus_radius = tracker_cfg.consensus_radius_m
self._consensus_max_age = tracker_cfg.consensus_max_age
else:
self.gate = gate
self._reacquire_gate = REACQUIRE_GATE_M
@@ -132,6 +167,9 @@ class SheepTracker:
self._velocity_clamp = VELOCITY_CLAMP
self._max_new_per_step = MAX_ACTIVE_TRACKS
self._pen_latch_depth = 0.0
self._consensus_k = 1
self._consensus_radius = 0.5
self._consensus_max_age = 8
self._tracks: dict[int, Track] = {}
self._next_id = 0
self.step = 0
@@ -148,9 +186,12 @@ class SheepTracker:
det_used: set[int] = set()
updated_tids: set[int] = set()
# Pass 1 — match active tracks within the primary gate.
# Use predicted positions for matching, oldest-first.
active_tids = [tid for tid, t in self._tracks.items() if not t.penned]
# Pass 1 — match promoted active tracks within the primary gate.
# Use predicted positions for matching, oldest-first. Candidates
# are excluded; they get their own (tighter) pass below so a
# stray detection cannot rescue an already-stale candidate.
active_tids = [tid for tid, t in self._tracks.items()
if not t.penned and not t.candidate]
active_tids.sort(key=lambda tid: self._tracks[tid].last_seen)
for tid in active_tids:
track = self._tracks[tid]
@@ -167,6 +208,7 @@ class SheepTracker:
if best_j >= 0:
dx, dy = detections[best_j]
track.update(dx, dy, self.step)
track.hit_count += 1
det_used.add(best_j)
updated_tids.add(tid)
@@ -190,9 +232,31 @@ class SheepTracker:
if best_j >= 0:
dx, dy = detections[best_j]
track.update(dx, dy, self.step)
track.hit_count += 1
det_used.add(best_j)
updated_tids.add(tid)
# Pass 1c — match remaining detections to candidate tracks within
# the tight consensus radius. Each hit ages the candidate; once
# hit_count reaches consensus_k it is promoted (handled below).
candidate_tids = [tid for tid, t in self._tracks.items() if t.candidate]
candidate_tids.sort(key=lambda tid: self._tracks[tid].last_seen)
for tid in candidate_tids:
track = self._tracks[tid]
best_j, best_d = -1, self._consensus_radius
for j, (dx, dy) in enumerate(detections):
if j in det_used:
continue
d = math.hypot(dx - track.x, dy - track.y)
if d < best_d:
best_d = d
best_j = j
if best_j >= 0:
dx, dy = detections[best_j]
track.update(dx, dy, self.step)
track.hit_count += 1
det_used.add(best_j)
# Pass 2 — match remaining detections to penned tracks.
penned_tids = [tid for tid, t in self._tracks.items() if t.penned]
for tid in penned_tids:
@@ -208,43 +272,80 @@ class SheepTracker:
if best_j >= 0:
dx, dy = detections[best_j]
track.update(dx, dy, self.step)
track.hit_count += 1
det_used.add(best_j)
# Spawn new tracks for unmatched detections — rate-capped.
# Spawn tracks for still-unmatched detections.
#
# When ``consensus_k > 1`` every new track starts as a candidate
# and remains invisible to ``get_positions`` until it accumulates
# the required matches. Penned latching is deferred to after
# promotion — otherwise gate-area phantoms could still skip the
# consensus filter by landing inside the pen column and being
# latched forever, which is exactly the failure mode the filter
# is meant to eliminate. ``max_new_tracks_per_step`` continues
# to rate-cap spawns.
spawned = 0
spawn_candidates = self._consensus_k > 1
for j, (dx, dy) in enumerate(detections):
if j in det_used:
continue
if spawned >= self._max_new_per_step:
break
if spawn_candidates:
self._tracks[self._next_id] = Track(
dx, dy, self.step, penned=False, candidate=True)
else:
penned = self._is_penned(dx, dy)
self._tracks[self._next_id] = Track(dx, dy, self.step, penned)
self._tracks[self._next_id] = Track(
dx, dy, self.step, penned=penned, candidate=False)
self._next_id += 1
spawned += 1
# Promote active tracks whose current estimate crosses the gate.
# Promote candidates that have accumulated enough matches.
for track in self._tracks.values():
if track.penned:
if track.candidate and track.hit_count >= self._consensus_k:
track.candidate = False
# Promote active tracks whose current estimate crosses the gate.
# Candidates are deliberately excluded — a track that hasn't yet
# earned visibility shouldn't be allowed to latch as penned
# either (that path is exactly how south-wall FPs persisted
# forever before the consensus filter existed).
for track in self._tracks.values():
if track.penned or track.candidate:
continue
px, py = track.predicted_position(
self.step, self._predict_steps, self._velocity_clamp)
if self._is_penned(px, py):
track.penned = True
# Forget stale active tracks; penned tracks decay too but at a
# longer horizon (real penned sheep are still observed occasionally
# when the dog faces south; pure FPs at gate posts stop being
# detected once the dog drives away).
# Forget stale tracks. Candidates have their own short timeout
# (one window to confirm or die); promoted active tracks decay at
# forget_steps; penned tracks decay 8× slower because real penned
# sheep are still observed when the dog faces the pen.
penned_forget = self._forget_steps * 8
stale = [tid for tid, t in self._tracks.items()
if (not t.penned and (self.step - t.last_seen) > self._forget_steps)
or (t.penned and (self.step - t.last_seen) > penned_forget)]
stale: list[int] = []
for tid, t in self._tracks.items():
age = self.step - t.last_seen
if t.candidate:
if age > self._consensus_max_age:
stale.append(tid)
elif t.penned:
if age > penned_forget:
stale.append(tid)
else:
if age > self._forget_steps:
stale.append(tid)
for tid in stale:
del self._tracks[tid]
# Hard cap on the active set — drop the oldest-seen overflow.
# Hard cap on the visible (promoted, not penned) active set —
# drop the oldest-seen overflow. Candidates are not counted here:
# they don't compete for slots until they earn promotion, and
# rate-limiting their spawn is the job of ``max_new_per_step``.
active = [(tid, t.last_seen) for tid, t in self._tracks.items()
if not t.penned]
if not t.penned and not t.candidate]
if len(active) > MAX_ACTIVE_TRACKS:
active.sort(key=lambda kv: kv[1])
for tid, _ in active[: len(active) - MAX_ACTIVE_TRACKS]:
@@ -267,12 +368,16 @@ class SheepTracker:
return (in_pen(x, y) or is_penned_position(x, y)) and y <= threshold
def get_positions(self, min_freshness: int | None = None) -> dict[str, tuple[float, float]]:
"""Active (not-penned) tracks as a ``{name: (x, y)}`` dict.
"""Promoted (non-candidate, non-penned) tracks as ``{name: (x, y)}``.
For tracks currently being predicted (occluded but within
predict_steps), returns the extrapolated position so the teacher
sees a smooth estimate.
Candidate tracks — those that have not yet accumulated
``consensus_k`` matches — are excluded so a one-shot phantom
detection never reaches the policy/teacher.
``min_freshness`` (optional, deploy-only): drop tracks whose
last_seen is older than ``step - min_freshness``. Real sheep in
FOV are detected nearly every step; phantom tracks from sporadic
@@ -281,7 +386,7 @@ class SheepTracker:
"""
result = {}
for tid, track in self._tracks.items():
if track.penned:
if track.penned or track.candidate:
continue
if (min_freshness is not None
and self.step - track.last_seen > min_freshness):
@@ -295,13 +400,20 @@ class SheepTracker:
return {f"t{tid}" for tid, t in self._tracks.items() if t.penned}
def n_active(self) -> int:
return sum(1 for t in self._tracks.values() if not t.penned)
"""Number of promoted (non-candidate, non-penned) tracks."""
return sum(1 for t in self._tracks.values()
if not t.penned and not t.candidate)
def n_penned(self) -> int:
return sum(1 for t in self._tracks.values() if t.penned)
def n_candidate(self) -> int:
"""Number of unpromoted candidate tracks awaiting consensus."""
return sum(1 for t in self._tracks.values() if t.candidate)
def n_predicted(self) -> int:
"""Number of active tracks currently being extrapolated (not directly observed)."""
"""Number of promoted active tracks currently being extrapolated (not directly observed)."""
return sum(1 for t in self._tracks.values()
if not t.penned and (self.step - t.last_seen) > 0
if not t.penned and not t.candidate
and (self.step - t.last_seen) > 0
and (self.step - t.last_seen) <= self._predict_steps)
tests/test_config.py
+22 -1
View File
@@ -61,10 +61,23 @@ class TestTrackerConfig:
def test_webots_preset_tighter(self):
cfg = HERDING_WEBOTS.tracker
assert cfg.forget_steps == 120
# forget_steps was extended so confirmed sheep tracks survive
# sparse 140° FOV re-sightings; consensus blocks phantoms from
# reaching this lifetime.
assert cfg.forget_steps >= 200
assert cfg.max_new_tracks_per_step == 1
assert cfg.pen_latch_depth == 2.0
def test_default_consensus_disabled(self):
cfg = TrackerConfig()
assert cfg.consensus_k == 1
def test_webots_preset_enables_consensus(self):
cfg = HERDING_WEBOTS.tracker
assert cfg.consensus_k > 1
assert cfg.consensus_radius_m > 0.0
assert cfg.consensus_max_age >= cfg.consensus_k
def test_invalid_forget_steps(self):
with pytest.raises(ValueError):
TrackerConfig(forget_steps=0)
@@ -73,6 +86,14 @@ class TestTrackerConfig:
with pytest.raises(ValueError):
TrackerConfig(max_new_tracks_per_step=0)
def test_invalid_consensus_params(self):
with pytest.raises(ValueError):
TrackerConfig(consensus_k=0)
with pytest.raises(ValueError):
TrackerConfig(consensus_radius_m=0.0)
with pytest.raises(ValueError):
TrackerConfig(consensus_max_age=0)
# ---------------------------------------------------------------------------
# DetectionConfig
tests/test_perception.py
+85
View File
@@ -164,3 +164,88 @@ def test_tracker_reset_clears_state():
t.reset()
assert t.n_active() == 0
assert t.step == 0
# ---------------------------------------------------------------------------
# Consensus promotion
# ---------------------------------------------------------------------------
def _tracker_with_consensus(k: int = 3, radius: float = 0.5, max_age: int = 8):
from herding.config import TrackerConfig
return SheepTracker(tracker_cfg=TrackerConfig(
consensus_k=k, consensus_radius_m=radius, consensus_max_age=max_age,
))
def test_consensus_default_disabled():
"""With consensus_k=1 (default) the first detection is immediately visible."""
t = SheepTracker()
t.update([(5.0, 0.0)])
assert t.n_active() == 1
assert len(t.get_positions()) == 1
def test_consensus_hides_one_shot_detection():
"""K>=2: a single detection that never reappears is filtered out."""
t = _tracker_with_consensus(k=3)
t.update([(5.0, 0.0)])
assert t.n_active() == 0 # candidate, not promoted
assert t.n_candidate() == 1
assert t.get_positions() == {}
def test_consensus_promotes_after_k_matches():
"""A real sheep visible for K frames promotes and appears in get_positions."""
t = _tracker_with_consensus(k=3)
for _ in range(3):
t.update([(5.0, 0.0)])
assert t.n_active() == 1
assert t.n_candidate() == 0
assert len(t.get_positions()) == 1
def test_consensus_candidate_expires_quickly():
"""A candidate that fails to re-confirm within consensus_max_age dies."""
t = _tracker_with_consensus(k=3, max_age=5)
t.update([(5.0, 0.0)])
assert t.n_candidate() == 1
for _ in range(6): # > max_age empty frames
t.update([])
assert t.n_candidate() == 0
assert t.n_active() == 0
def test_consensus_tracker_does_not_promote_phantom_pen():
"""A one-shot detection inside the pen column must not latch as penned
while it is still a candidate."""
t = _tracker_with_consensus(k=3)
t.update([(11.5, -16.0)]) # gate-area FP, inside the pen column
# Not promoted, not penned — just a candidate.
assert t.n_penned() == 0
assert t.n_candidate() == 1
# And after one expiry window it disappears entirely.
for _ in range(10):
t.update([])
assert t.n_penned() == 0
assert t.n_candidate() == 0
def test_consensus_distinguishes_real_sheep_from_phantom():
"""Real sheep (continuous detections) promote; phantom (intermittent
detections at jittered positions outside consensus_radius) does not
appear in get_positions even while individual candidates are still
within the max-age window."""
t = _tracker_with_consensus(k=3, radius=0.4, max_age=4)
# Real sheep visible at (5, 0) every frame; phantom jitters > radius.
phantom_positions = [(10.0, 5.0), (10.5, 5.6), (11.1, 5.0), (10.0, 5.7)]
for k in range(4):
t.update([(5.0, 0.0), phantom_positions[k]])
positions = t.get_positions()
assert len(positions) == 1
real_xy = next(iter(positions.values()))
assert math.hypot(real_xy[0] - 5.0, real_xy[1]) < 0.5
# And once the candidate window has elapsed, every phantom has died.
for _ in range(8):
t.update([(5.0, 0.0)])
assert t.n_candidate() == 0
assert len(t.get_positions()) == 1