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v2 Hani Alhabboub
docs: 2026-05-10 wiki refresh (current code + open audit) Sync the wiki against `main` as of commit db98e16. The previous revision was authored ~March 2026 and predated nine modules and the entire eval / baseline subsystem. Pages updated: - Home: refresh CLI flag table (smart log-level default; --baseline / --uniform-cell-size / --unit-codes / --no-boxel-viz / --show-free / --n-objects; stack scene preset; goal kinds), add eval-sweep quickstart, refresh tech-stack table, retire "as of March 2026". - Architecture_Overview: add belief.py, execution.py, uniform_grid.py, reboxelize.py, smart_filter.py, eval_runner.py, eval_plotter.py to the module dependency diagram, module summary table, and file-structure tree. Replace stale archive listing with the actual current archive contents (RESOLVED + DEFERRED audit splits). Drop SESSION_HANDOFF.md (gone). - Known_Issues_and_Roadmap: full rewrite against CODEBASE_AUDIT.txt SUMMARY block (last sync 2026-05-10). Drop the stale #76/#55/#80-94 numbering scheme; reflect current TIER 0/1/2/3 layout (#50, #57, #59, #61, #62, #63, #65, #66 Plan C, with #67 just closed); add a "Recently Resolved" table for the 2026-05-07 -> 2026-05-10 closure burst (#9, #10, #36, #41, #48, #49, #58, #60, #67, etc.); add a roadmap-to-submission ordering ending at #63 doc sweep. - Spatial_Reasoning: list all five contributing modules in the overview; add a UniformGridGenerator section (audit #10); note that semantic baseline's min_resolution is now clamped at max_object_AABB + 1 cm so semantic vs uniform compare fairly (commit db98e16); mention reboxelize.py. - Scene_Environment: add stack_scene preset (audit #30); document scalability_scene's n_hidden guarantee (audit #29); add tray-entity section (audit #49); drop "(not yet implemented)" claim on scalability_scene (eval framework landed 2026-05-08). - Design_Decisions: add semantic-vs-uniform baseline rationale inline with the existing semantic-boxels-vs-voxels section; add Action Costs (stack=2 vs others=1) and Post-Action Lift Workaround sections. - Planning_System: update planner.plan() signature with held_obj (audit #58) and stackable_objects (--goal stack / find-and-tray-stack); add compute-stack-kin to the stream map. - Execution_Pipeline: split orchestration (test_full_pipeline.py) from action handlers (execution.py); document the three --goal modes; replace the stale "AABB-shadow-containment" hidden-target description with camera-ray occlusion (audit #67); add stack action handler section; document _apply_post_action_lift, _verify_cube_on, reboxelize_after_relocation in the place postlude; add timing_summary.json + run_config.json + smart-filter notes to the Logging section. - PDDL_Domain_Reference: add :conditional-effects + :action-costs to requirements; add boxel_fits, on_surface, stack_kin, on, on_table, clear, is_tray to the predicate tables; refresh pick/place pre/eff against current PDDL (clear/on_table/forall conditional effect on pick; on_surface + boxel_fits on place); add stack action; add compute-stack-kin stream; add PF-6 entry for stack alignment. - Core_Data_Structures: relocate BeliefState to belief.py (audit #26 extraction) with full method table; mark the old boxel_types.Boxel dataclass as removed in audit #35 (BoxelData is now the sole representation); add ObjectInfo.is_tray and SceneConfig.enable_tray fields; add stack_scene factory.
v1 Hani Alhabboub
Add complete project wiki (11 pages) Made-with: Cursor