research: cave planner merge evidence (L150, measurement only)
Merges cleanly. UE start: S1 -9%, S3 +11%, S0/S2 ~+1%. 30 m/s: near coverage 44.2 -> 38.5%, far holes +0.06 pp, p99 +2%. L80 near-ready slower in 6/8 cells (up to +7.9%), whole view faster in 7/8. Sweeps 15/16 each (seed 2). Source/: VoxelForgeCoreAdapter.cpp. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_016dhxM43dnWvUu2B5Ph1iG1
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Fr0zkaandClaude Opus 5.5 committed
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#!/usr/bin/env python3
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"""Measure planner HEAD and code-equivalent assembler/world with the L121/L127 runners."""
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from __future__ import annotations
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import importlib.util
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import json
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import os
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from pathlib import Path
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import statistics
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import sys
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ROOT = Path(__file__).resolve().parents[4]
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RESEARCH = ROOT / "Standalone/Research/WorldAssemblerM3"
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EDITOR = Path("/home/jahni/UnrealEngine/Engine/Binaries/Linux/UnrealEditor-Cmd")
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HOSTS = {
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"assembler-world": ROOT / "Saved/Linux/l127/ue-baseline-project",
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"planner-head": Path("/home/jahni/VFHost"),
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}
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CAMERAS = {
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0: (8.0, 16.0, -372.2626953125),
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1: (25.8369140625, 3.19921875, -737.0),
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2: (19.166015625, -14.2001953125, -753.3740234375),
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3: (-20.0625, -5.068359375, -900.353515625),
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}
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def load(name: str, path: Path):
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spec = importlib.util.spec_from_file_location(name, path)
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if spec is None or spec.loader is None:
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raise RuntimeError(f"cannot load {path}")
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module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(module)
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return module
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def configure(arrival, movement, label: str):
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host = HOSTS[label].resolve()
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out = ROOT / "Saved/Linux/l150/ue" / label
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plugin_saved = host / "Plugins/VoxelForge/Saved/Linux/l150"
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out.mkdir(parents=True, exist_ok=True)
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plugin_saved.mkdir(parents=True, exist_ok=True)
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os.environ["XDG_CONFIG_HOME"] = str(out / "config")
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arrival.HOST = host
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arrival.EDITOR = EDITOR
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arrival.OUT = out / "start"
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arrival.HOST_SAVED = out / "host"
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arrival.HOST_PLUGIN_SAVED = plugin_saved
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arrival.RUN_TIMEOUT_S = 1740
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movement.HOST = host
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movement.EDITOR = EDITOR
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movement.OUT = out / "movement"
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movement.HOST_SAVED = out / "host"
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movement.HOST_OUT = plugin_saved / "movement"
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movement.RUN_TIMEOUT_S = 1740
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return host, out
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def start_matrix(arrival, movement, label: str) -> dict:
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host, out = configure(arrival, movement, label)
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spawns = {
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0: (8.0, 16.0, -372.2626953125),
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1: (25.8369140625, 3.19921875, -737.0),
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2: (19.166015625, -14.2001953125, -753.3740234375),
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3: (-20.0625, -5.068359375, -900.353515625),
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}
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starts = []
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for index, position in spawns.items():
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stratum = "FI" if index == 1 else "SW"
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arrival.SPAWNS_M[stratum] = position
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row = arrival.run(stratum, 1, f"start-s{index}", 8, 1, 0, 1, 1, 0, 1,
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False, False, 1)
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row["strate_index"] = index
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row["spawn_m"] = list(position)
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if row.get("lod02_full_settled_t_s") is None:
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raise RuntimeError(f"LOD0-2 did not settle for S{index}: {row}")
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starts.append(row)
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print("[L150UEStart] " + json.dumps(row, sort_keys=True), flush=True)
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(out / "start-summary.json").write_text(
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json.dumps(starts, indent=2, sort_keys=True) + "\n", encoding="utf-8")
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row = moving_run(movement, label, 1)
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(out / "movement-first.json").write_text(
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json.dumps(row, indent=2, sort_keys=True) + "\n", encoding="utf-8")
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print("[L150UEMovement] " + json.dumps(row, sort_keys=True), flush=True)
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return {"host": str(host), "starts": starts, "first_movement": row}
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def moving_run(movement, label: str, repetition: int) -> dict:
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condition = "c743f2a" if label == "assembler-world" else "planner-head"
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row = movement.run_unreal(condition, repetition)
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events = movement.parse_events(ROOT / row["trace"])
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row["supplemental_far_applies_moving"] = sum(
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int(event.get("supplemental_far_applies", 0))
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for event in events
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if event.get("type") == "apply_frame"
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and float(event.get("speed_cm_s", 0.0)) >= 50.0)
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if row.get("effective_tile_slots") != 8:
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raise RuntimeError(f"expected eight effective tile slots: {row}")
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return row
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def main() -> int:
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out = ROOT / "Saved/Linux/l150/ue"
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out.mkdir(parents=True, exist_ok=True)
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arrival = load("l150_arrival", RESEARCH / "Linux121/RunL121Arrival.py")
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movement = load("l150_movement", RESEARCH / "Linux121/RunL121Movement.py")
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summaries = {}
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all_runs = {label: [] for label in HOSTS}
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for label in HOSTS:
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summaries[label] = start_matrix(arrival, movement, label)
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all_runs[label].append(summaries[label]["first_movement"])
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for repetition in range(2, 6):
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order = ("planner-head", "assembler-world") if repetition % 2 == 0 \
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else ("assembler-world", "planner-head")
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for label in order:
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configure(arrival, movement, label)
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row = moving_run(movement, label, repetition)
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all_runs[label].append(row)
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(out / "movement-runs-partial.json").write_text(
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json.dumps(all_runs, indent=2, sort_keys=True) + "\n", encoding="utf-8")
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print("[L150UEMovementRepeat] " + json.dumps({
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key: row.get(key) for key in (
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"condition", "repetition", "near_ready_moving_mean_pct",
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"far_holes_moving_mean_pct", "game_thread_tick_p99_ms",
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"game_thread_tick_max_ms", "supplemental_far_applies_moving",
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"wall_s", "trace")}, sort_keys=True), flush=True)
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keys = ("near_ready_moving_mean_pct", "far_holes_moving_mean_pct",
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"game_thread_tick_p99_ms", "game_thread_tick_max_ms")
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medians = {
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label: {key: statistics.median(row[key] for row in rows) for key in keys}
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for label, rows in all_runs.items()
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}
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delta = {
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key: round(100.0 * (medians["planner-head"][key]
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/ medians["assembler-world"][key] - 1.0), 2)
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for key in keys
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}
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result = {
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"baseline_commit": "c743f2a (code-equivalent to assembler/world eb47d72)",
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"protocol": (
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"L121 arrival and L127 movement; starts at four owner strata; five interleaved "
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"30 m/s runs per build; 12 s move plus 5 s dwell; eight effective tile slots"),
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"starts": summaries,
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"movement_runs": all_runs,
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"movement_medians": medians,
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"planner_head_vs_assembler_world_delta_pct": delta,
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}
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(out / "summary.json").write_text(
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json.dumps(result, indent=2, sort_keys=True) + "\n", encoding="utf-8")
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print("[L150UESummary] " + json.dumps({
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"movement_medians": medians,
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"planner_head_vs_assembler_world_delta_pct": delta,
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"starts_s": {
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label: [round(row["lod02_full_settled_t_s"], 3)
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for row in summary["starts"]]
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for label, summary in summaries.items()
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},
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}, sort_keys=True), flush=True)
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return 0
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if __name__ == "__main__":
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try:
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raise SystemExit(main())
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except Exception as error:
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print(f"[L150UEFailure] {error}", file=sys.stderr, flush=True)
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raise SystemExit(1)
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