build(deps): bump actions/upload-pages-artifact from 4 to 5#2
Open
dependabot[bot] wants to merge 1 commit into
Open
build(deps): bump actions/upload-pages-artifact from 4 to 5#2dependabot[bot] wants to merge 1 commit into
dependabot[bot] wants to merge 1 commit into
Conversation
Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 4 to 5. - [Release notes](https://github.com/actions/upload-pages-artifact/releases) - [Commits](actions/upload-pages-artifact@v4...v5) --- updated-dependencies: - dependency-name: actions/upload-pages-artifact dependency-version: '5' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com>
Author
LabelsThe following labels could not be found: Please fix the above issues or remove invalid values from |
NMGorovenko
added a commit
that referenced
this pull request
May 25, 2026
Two changes that together eliminate the bang-bang behaviour that BC
was learning as noise:
1. **Corner-only targets.** curated_paths.control_points() returns
just the direction-change cells of a path (plus start and goal)
instead of every grid cell. The auto-pilot drives toward sparse
corners rather than retargeting every 45 cm.
2. **ALIGN / DRIVE phase machine.** In drive_episode:
* ALIGN: rotate (DirLeft/DirRight) until heading is within ±6°
of the line-to-target. Single sustained rotation, no
bang-bang.
* DRIVE: pure DirForward until the corner is reached. The only
mid-segment correction is a hard fallback when heading has
drifted past ±18° (rare — the corridor walls themselves
mostly rail the robot).
* On reach-distance hit OR overshoot (current distance > 1.5×
the minimum seen this segment), reset to ALIGN for the next
corner.
The BC student now sees long sequences of DirForward labels on
identical "corridor-straight-ahead" frames, then a short cluster
of DirLeft/DirRight at each corner, then more Forwards. That's the
"align — drive — align — drive" pattern a human operator produces.
The previous controller, even with hysteresis, kept micro-correcting
through every segment because the heading error grew asymptotically
as the robot approached each per-cell target.
Re-recorded the 10 curated maze demos:
* All 10 still reached_goal (87-166 steps vs 210-296 previously
— shorter because cleaner trajectory)
* Total samples 1204 (was 2603; fewer steps × same FPS)
* Action mix Forward 57.8 % / Left 17.9 % / Right 24.3 %
(was 30.5 / 33.0 / 36.4 — F nearly doubled)
* Simple L paths (#1, #2): 71-77 % Forward
* 4-corner stairs (#7, #8): 50 % Forward
* Distribution now scales with corner density, as expected
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
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.
Bumps actions/upload-pages-artifact from 4 to 5.
Release notes
Sourced from actions/upload-pages-artifact's releases.
Commits
fc324d3Merge pull request #139 from Tom-van-Woudenberg/patch-1fe9d4b7Merge branch 'main' into patch-10ca1617Merge pull request #137 from jonchurch/include-hidden-files57f0e84Update action.yml4a90348v7 --> hash56f665aUpdate upload-artifact action to version 7f7615f5Addinclude-hidden-filesinputDependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting
@dependabot rebase.Dependabot commands and options
You can trigger Dependabot actions by commenting on this PR:
@dependabot rebasewill rebase this PR@dependabot recreatewill recreate this PR, overwriting any edits that have been made to it@dependabot show <dependency name> ignore conditionswill show all of the ignore conditions of the specified dependency@dependabot ignore this major versionwill close this PR and stop Dependabot creating any more for this major version (unless you reopen the PR or upgrade to it yourself)@dependabot ignore this minor versionwill close this PR and stop Dependabot creating any more for this minor version (unless you reopen the PR or upgrade to it yourself)@dependabot ignore this dependencywill close this PR and stop Dependabot creating any more for this dependency (unless you reopen the PR or upgrade to it yourself)