pverseer rambling at 430am

2026-09-15 17:12:59 -04:00 · 2026-05-02 04:35:20 -04:00
parent 0f97382f42
commit e8f6fb9654
4 changed files with 86 additions and 23 deletions
@@ -0,0 +1,35 @@
+# overseer v2 (will have a name rather than overseer.)
+- name ideas:
+  - allied mastercomputer
+  - maybe it could rename itself? rarely?
+  - AUTO
+  - servermaster
+  - LCARS
+- current model is mistral-small:24b
+  - currently runs at a pretty fast rate, about 30 seconds per tick
+  - might need a larger model. one that supports tools
+  - its probably okay if its a little slower after its all done
+- the idea is to give the llm control over the room objects, 
+  - like:
+    - the neato
+    - the lift
+    - home assistant controls (they are all lights even if theyre switches)
+    - button box rewards, maybe the llm is allowed to add some to the counts if it decides to
+  - the idea is to use actual tools in ollama for it to be reliable, so need a model that supports tools.
+- also, maybe using tools it could even have a small persistent memory database?
+  - like, maybe it can store three lines of text, and it can read these and choose which one to replace with a tool.
+- the way the llm would have to act to make this fun:
+  - not too overbearing
+  - like an ominous computer, not a generic helpful assistant
+  - does things only when it can make them interesting
+  - always responds to people, doesnt always listen and obey
+  - doesnt talk on and on when no one wants to hear it
+
+
+## for sure serious implimentation plans so far:
+- replace the single "The Overseer" bot entry point in the chat system with:
+  - a way for services to send bot messages to the chat system through the event bus, instead of it being fully internal with the chat system.
+  - a simple bot: t/f flag in every chat message
+    - so that people who are making spectator bots can just add a new bot: true field to their message emits and show up as a bot
+- keep the old overseer, don't replace it with the new llm system. 
+  - just change it a little to use the new bot chat message stuff.
@@ -11,7 +11,7 @@
    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
    <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
    <title>Multi Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-7t2kb-aG.js"></script>
+    <script type="module" crossorigin src="/assets/index-BhTaDZYU.js"></script>
    <link rel="stylesheet" crossorigin href="/assets/index-CGvUXLso.css">
  </head>
  <body>
@@ -45,21 +45,49 @@ function buildLidarRenderPoints(points = []) {
    (point) => point && point.valid && Number.isFinite(point.angleDeg) && Number.isFinite(point.distanceMm),
  );
  const sortedPoints = [...validPoints].sort((a, b) => Number(a.angleDeg) - Number(b.angleDeg));
-  const filteredPoints = sortedPoints.filter((point, index, list) => {
-    if (list.length < 3) return true;
-    const distanceMm = Math.max(0, Number(point.distanceMm));
-    const prev = list[(index - 1 + list.length) % list.length];
-    const next = list[(index + 1) % list.length];
-    const prevDistanceMm = Math.max(0, Number(prev.distanceMm));
-    const nextDistanceMm = Math.max(0, Number(next.distanceMm));
-    const neighborDistanceMm = Math.max(prevDistanceMm, nextDistanceMm);
+  const groups = [];
+  let currentGroup = [];

-    // Drop single-point radial spikes that sit far beyond both adjacent angle samples.
-    if (neighborDistanceMm <= 0) return true;
-    const muchFartherThanNeighbors = distanceMm > neighborDistanceMm * 1.85;
-    const largeAbsoluteGap = distanceMm - neighborDistanceMm > 1400;
-    return !(muchFartherThanNeighbors && largeAbsoluteGap);
+  for (const point of sortedPoints) {
+    if (!currentGroup.length) {
+      currentGroup.push(point);
+      continue;
+    }
+    const previousPoint = currentGroup[currentGroup.length - 1];
+    const angleGap = Math.abs(Number(point.angleDeg) - Number(previousPoint.angleDeg));
+    const prevDistanceMm = Math.max(0, Number(previousPoint.distanceMm));
+    const distanceMm = Math.max(0, Number(point.distanceMm));
+    const distanceGap = Math.abs(distanceMm - prevDistanceMm);
+
+    if (angleGap <= 2 && distanceGap <= 900) {
+      currentGroup.push(point);
+      continue;
+    }
+
+    groups.push(currentGroup);
+    currentGroup = [point];
+  }
+  if (currentGroup.length) groups.push(currentGroup);
+
+  const groupStats = groups.map((group) => {
+    const distances = group.map((point) => Math.max(0, Number(point.distanceMm)));
+    const avgDistanceMm = distances.reduce((sum, value) => sum + value, 0) / Math.max(1, distances.length);
+    return {
+      points: group,
+      size: group.length,
+      avgDistanceMm,
+    };
  });
+  const largestGroup = groupStats.reduce((best, group) => (group.size > (best?.size || 0) ? group : best), null);
+  const referenceDistanceMm = largestGroup?.avgDistanceMm || 1000;
+  const filteredPoints = groupStats
+    .filter((group) => {
+      const tinyCluster = group.size <= 3;
+      const farFromMainBody =
+        group.avgDistanceMm > referenceDistanceMm * 1.8 && group.avgDistanceMm - referenceDistanceMm > 1400;
+      return !(tinyCluster && farFromMainBody);
+    })
+    .flatMap((group) => group.points);
  const scaleDistances = filteredPoints.map((point) => Math.max(0, Number(point.distanceMm))).sort((a, b) => a - b);
  const percentileIndex = Math.max(0, Math.floor((scaleDistances.length - 1) * 0.95));
  const maxDistanceMm = Math.max(1000, scaleDistances[percentileIndex] || 1000);