policy input
full observation: 64 lidar ranges (6 m max), odometry frame
● goal vector · ● previous action
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click: set goal · shift-click: teleport · drag: pan · wheel / pinch: zoom · wall / erase: edit the map
hollow ring = robot's odometry estimate (visible with noise on)
GRU-256 PPO policy, ~98% success on held-out scenes · sim + inference in JS
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