User-facing pass after the project was decided to be a single
submission with no inner iterations.
* Remove every "v1"/"v2"/"versioning" reference from the docs:
- README mecanum section trims the "v1 predates the rewrite" prose
in favour of a self-contained retrain recipe.
- The 3.2 GB `training/runs/v1_clean/` backup directory is deleted.
* Refresh control-layer docstrings:
- `sheep_tracker.py` header now describes the three actual pipeline
stages (consensus, prediction, pen latching) instead of layering
the consensus stage on top of a stale "predictive mode" preamble.
- `controllers/shepherd_dog/shepherd_dog.py` mode list is
up-to-date — adds `universal`, removes outdated single-policy
default paths, mentions `HERDING_USE_GT=1` as the perception
ablation.
* Refresh training command examples:
- `training/bc/collect.py` and `training/bc/pretrain.py` usage
snippets show the world-suffixed paths the Makefile actually
uses; the `--out` arg is now required so old "demos.npz"
invocations error loudly instead of silently overwriting.
- `training/README.md` rewritten — drops the legacy `runs/bc`
diagram, documents the per-(drive, world) pipeline, and adds
the mecanum retraining caveat.
* Fix policy-directory resolution end-to-end:
- `tools/run_webots.sh` now tries
`training/runs/{bc,rl}_<drive>_<world>` first, then the drive-
only path, then the bare-mode legacy path — matching the actual
on-disk layout. Previously it looked for `bc_<drive>` (no
world) and silently fell back to `bc`, masking the world
selection.
- `controllers/shepherd_dog/shepherd_dog.py:_resolve_policy_dir`
has the same fix plus a latent NameError unmasked: it referenced
`DRIVE_MODE` before that variable was set at module load. The
block is restructured so MODE/DRIVE_MODE/WORLD are resolved
first, then the function uses them as explicit arguments.
126 pytest cases still pass.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Johnny Fernandes