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up-to-date — adds `universal`, removes outdated single-policy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>
Repo hygiene pass after a long working session.
Files removed:
* stage1_train.log — runtime training log (~125 KB), shouldn't have
been tracked.
* training/bc/demos.npz — orphan default-name demos file from before
the world+drive-suffixed naming convention took over; no script
references it.
* training/runs/bc_dagger{1,2}_differential_field/policy.zip — failed
DAgger experiment artifacts. Per `memory/dagger_results.md` the
whole DAgger experiment hit 0/5 on Webots transfer; these checkpoints
have no consumers.
Untracked-but-deleted (no git change) — also cleaned from disk:
* Root-level runtime logs (43 *.log files, all unused — gitignored now).
* training/bc/{combined,dagger}*.npz (5 huge demo blobs, 2.6 GB
reclaimed; not committed).
* training/bc/v1/ (2.6 GB backup of pre-DAgger demos; reclaimed).
* training/runs/at_20260426_*/ (orphan timestamped runs; reclaimed).
* All __pycache__/.
Dead code removed:
* `herding/control/strombom.py::compute_action_debug` — no callers
anywhere in the repo.
* `herding/control/sequential.py::compute_action_debug` — same.
* `herding/control/universal.py::compute_action_diff` — same.
.gitignore extended to cover:
* All *.log files (training/eval/webots logs are runtime artifacts).
* training/bc/*.npz (re-collectable on demand by `make bc_demos`).
* training/bc/v1/.
* .pytest_cache, *.pyc, .claude/.
README refreshed:
* Mecanum + round-world coverage in the headline.
* Quick-start updated for DRIVE/WORLD-suffixed Makefile targets,
GT-bypass example, and the mecanum-retrain caveat.
* Layout reflects the actual current tree (config.py, both protos,
both worlds, all tools).
* Results table replaced with the Webots end-to-end numbers from
the 2026-05-16 sweep (8/8 diff combos + LiDAR/GT comparison).
Verification: 126 pytest cases still pass (was 126 going in — no
test-coverage regression from the dead-code removal).
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Johnny Fernandes