feat(ml)!: P3 core — geometric dislike in nisps/, jolt/OU + geo ABI
Geometric dislike (rl-feedback-design §2.1/§4; upstream InterfaceRL @
0a541cc ported verbatim, constants included):
- nisps/ml/replay.hpp: ReplayView over storage-owned buffers — deepen-or-
store negatives (dedup 0.05, clamp -16), k-NN positive centroid with
deterministic index tie-break + fixed accumulation order, proportional
decay (0.0025*max(|r|,1)) + eviction, order-preserving compaction.
- nisps/ml/geo_push.hpp: push-away target (pushStep clamp(|avgNeg|,.25,1)
*0.5, taper /(1+len), useRandom on len<=1e-4 via nisps::Rng — the single
deliberate divergence from libc rand()), negLRRatio 0.5-0.4*negFraction.
- mlp.hpp: train_targets(input, computed-target, lr, out_mask) — trains
toward computed targets (negative lr = cold-start train-away); solo/
focus gating zeroes masked derivs.
- feedback.hpp: AvoidStyle {Geometric (new default), Diffuse (legacy
move_weights, kept for A/B)}; dislike_geometric() collapses upstream's
press+optimise into one synchronous call; on_up in geometric Avoid
feeds the positive centroid; dislike-multiplier bookkeeping. Storage
gains replay buffers (Fixed: ReplayCap=32 firmware default ≈ +8KB SRAM;
Dynamic arena: cap 64).
- bindings: nisps_ml_feedback_{dislike_geometric,store_positive,
positive_count,negative_count,set_avoid_style} + P3.2 jolt/OU ABI:
nisps_ml_jolt_{press,step,release,active,lr_scale,tick_lr_ramp},
nisps_ml_explore_{intensity,get_intensity,apply} (OUNoise<4096>
over-provisioned; same code the firmware ModeBase runs).
- parity v4: Stage 6 scripted geometric session (2 likes → 2 dislikes,
f32-exact heard vectors via Math.fround) — 961 floats PASS at 2.4e-7.
- tests: test_mlp_geo_dislike.cpp (replay dedup/deepen/clamp, centroid
tie-break, push direction/taper/mask/clamp, cold-start inertness +
train-away, determinism, Diffuse legacy); legacy Avoid test pinned to
Diffuse per the ADR's deliberate-break note.
Firmware: PAFSynth .text/.data unchanged (geometric path not referenced
by current glue). NOTE: discovered pre-existing bug 10c3e55c — the
explore/place wiring is linker-GC'd out of the PAFSynth ELF (predates
this refactor; evidence in the ergo task).
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