Add active vision - #1072
Open
Flova wants to merge 9 commits into
Open
Conversation
Adds an ACTIVE_VISION head mode that samples candidate head trajectories every cycle and scores them against the ball, team ball, robot detections and a decaying field coverage map, instead of replaying a fixed pattern. Extracts the existing head mover into a tested library first; behaviour of the other head modes is unchanged. Missing inputs are reported and the update is dropped rather than substituted for. Also fixes a division by zero producing NaN keyframes for a single scan line, and an off centre coverage grid when the field extent is not a multiple of the cell size.
No invented defaults for missing input, throttled logging that names what is missing, drop the update rather than the process, and keep retrying inputs that legitimately arrive late.
Removing build/, install/ or log/ by hand breaks every package that is not rebuilt with it, including ones outside the selection being worked on, and recovering needs a full workspace rebuild.
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
Signed-off-by: Florian Vahl <florian@flova.de>
Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01NcdgjqxnvjxCH8iqfgmTUx
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Summary
Adds a sampling based active vision algorithm
Proposed changes
Samples head targets and scores them based on some cost function including ball, field, robot coverage.
Related issues
Superceded #856
Checklist
pixi run buildWe tested this on the IFA 2026