Changelog

v0.5.1 — PID Steering + Meta-Learning Loop (2026-05-05)

Asymmetric stride steering replaces Z-offset (proven useless via hardware test)
PID closed-loop with IMU feedback — automatic drift compensation, no calibration needed
I-term eliminates steady-state drift offset
CompetenceGate v0.5.0 — stability-primary (no longer requires speed for actor handoff)
Meta-Learning Loop Phase A-D: EpisodeAnalyzer, StrategyAdapter, CuriosityExplorer, HypothesisGenerator
Drift profile v3 — yaw rate updated from -0.4 to -1.5 deg/s based on walking-load measurements
World-centered minimaps in renderer with reach radius circle
Hardware validated: dog approaches light (0.52m → 0.17m in 60s)
9 bugs found and fixed in one session

LightMemory — remembers last known light direction when target disappears
Hardware drift simulation — measured drift injected into MuJoCo via xfrc_applied
SNN alignment — 232 → 560 neurons (Freenove), continuous topology scaling
SpatialMap persistence — grid, landmarks, trail saved/restored across sessions
FLOG v1.2 — phototaxis navigation fields, brain map snapshots

Phototaxis — VOR steering toward light, waypoint system, run-and-tumble
6× speedup — Synaptogenesis O(N²) buffer fix, dense SNN threshold, R-STDP lazy rebuild
100k steps in 30 min instead of 5+ hours

train_baby.py — autonomous learning without external reward
Drift root cause — bilateral MH→Output weight asymmetry identified and fixed