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fix(runtime): escape-pit fallback for wedged bot

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When probe-cardinal shows all 4 directions blocked (the bot is in a
1×1 pit, surrounded by leaves, or in a corridor corner), don't just
hold forward+jump — actually dig the block above the bot's head,
jump into the new gap, repeat up to 3 times. Both wander and
explore.far now call escapePit() in this branch.

Observed live: bot fell into a pit at (623,71,106) after first
explore.far and looped wedged-jump→still-wedged→wedged-jump for 60s
before this fix. With escape-pit, the bot now actually breaks out.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
mayatnikov
2026-05-26 12:07:59 +03:00
co-authored by Claude Opus 4.7
parent 0aae5e2e68
commit 3e3ea3e597
2 changed files with 74 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
runtime/actions.js
+43 -16
View File
@@ -426,23 +426,13 @@ export async function wander(bot, radius = 12) {
const trials = await probeCardinalSteps(bot, 800);
const best = trials.reduce((b, t) => (t.dist > b.dist ? t : b), { dist: 0 });
// If nothing moved at all, the bot is wedged in all four cardinal
// directions (corner of a corridor, surrounded by leaves, hole). Try
// to jump + go in the most-promising direction (>0 movement) — gravity
// will help us drop to a lower y where there's space.
// If nothing moved at all, the bot is wedged — pit, corridor corner,
// surrounded by leaves. Try to escape: dig the block straight above
// + jump, repeat up to 3 times, then try forward+jump.
if (best.dist < 0.5) {
const fallback = trials.reduce((b, t) => (t.dist > b.dist ? t : b), { dist: 0, yaw: 0 });
info("action", `wander: all cardinals blocked, jumping fallback yaw=${fallback.yaw?.toFixed?.(2)}`);
try { await bot.look(fallback.yaw ?? 0, 0, true); } catch {}
bot.setControlState("forward", true);
bot.setControlState("jump", true);
try {
await new Promise((r) => setTimeout(r, 2_500));
} finally {
bot.setControlState("forward", false);
bot.setControlState("jump", false);
}
return { ok: true, detail: { mode: "wedged-jump", trials } };
info("action", `wander: all cardinals blocked → escape-pit (dig up + jump)`);
await escapePit(bot, 3);
return { ok: true, detail: { mode: "escape-pit", trials } };
}
// Commit to best direction.
@@ -481,6 +471,43 @@ const CARDINAL_YAWS = [
{ name: "W", yaw: Math.PI / 2 },
];
// escapePit — dig the block right above the bot's head, jump into the
// newly empty slot, repeat. Useful when the bot is in a 1x1 pit / surrounded
// by leaves above its head / standing inside a tree canopy. We use bot.dig
// directly (not collectBlock) because we don't care about pickup here.
async function escapePit(bot, maxSteps = 3) {
for (let i = 0; i < maxSteps; i++) {
const head = bot.entity.position.offset(0, 1.7, 0);
const above = bot.blockAt(head.offset(0, 0.5, 0));
if (!above || above.name === "air" || above.name === "cave_air") {
// Already clear above. Just jump+forward in case bot is in a
// horizontal pit (gap in floor).
bot.setControlState("jump", true);
bot.setControlState("forward", true);
await new Promise((r) => setTimeout(r, 700));
bot.setControlState("jump", false);
bot.setControlState("forward", false);
continue;
}
// Try to break the block above us. Force lookAt + 1-tick wait so the
// server accepts the dig packet on protocol 775.
try {
await withTimeout(bot.lookAt(above.position.offset(0.5, 0.5, 0.5), true), 1_500, "lookAt-up");
} catch {}
try {
await withTimeout(bot.dig(above), 8_000, "dig-up");
} catch (e) {
warn("action", `escape-pit dig-up failed: ${e.message}`);
break;
}
// jump into the now-empty slot
bot.setControlState("jump", true);
await new Promise((r) => setTimeout(r, 600));
bot.setControlState("jump", false);
await new Promise((r) => setTimeout(r, 400));
}
}
async function probeCardinalSteps(bot, durationMs = 800) {
const trials = [];
for (const { name, yaw } of CARDINAL_YAWS) {
runtime/skills/explore-far.js
+31 -12
View File
@@ -73,18 +73,11 @@ export const skill = Object.freeze({
info("action", `explore.far: cardinal probe trials=${trials.map((t) => `${t.name}:${t.dist.toFixed(1)}`).join(" ")} best=${best.name}`);
if (best.dist < 0.5) {
// All cardinals blocked. Same wedged-jump as wander.
info("action", "explore.far: wedged — jump fallback");
try { await bot.look(best.yaw ?? 0, 0, true); } catch {}
bot.setControlState("forward", true);
bot.setControlState("jump", true);
try {
await new Promise((r) => setTimeout(r, 3_000));
} finally {
bot.setControlState("forward", false);
bot.setControlState("jump", false);
}
return { ok: true, code: "done", detail: { mode: "wedged-jump", trials }, worldDelta: { movedTo: null } };
// All cardinals blocked → escape pit: dig the block above the
// bot's head (if any), jump into the gap, repeat. Then break.
info("action", "explore.far: wedged — escape-pit (dig up + jump)");
await escapePit(bot, 3);
return { ok: true, code: "done", detail: { mode: "escape-pit", trials }, worldDelta: null };
}
const here = bot.entity.position.clone();
@@ -131,6 +124,32 @@ const CARDINAL_YAWS = [
{ name: "W", yaw: Math.PI / 2 },
];
async function escapePit(bot, maxSteps = 3) {
for (let i = 0; i < maxSteps; i++) {
const head = bot.entity.position.offset(0, 1.7, 0);
const above = bot.blockAt(head.offset(0, 0.5, 0));
if (!above || above.name === "air" || above.name === "cave_air") {
bot.setControlState("jump", true);
bot.setControlState("forward", true);
await new Promise((r) => setTimeout(r, 700));
bot.setControlState("jump", false);
bot.setControlState("forward", false);
continue;
}
try { await withTimeout(bot.lookAt(above.position.offset(0.5, 0.5, 0.5), true), 1_500, "lookAt-up"); } catch {}
try {
await withTimeout(bot.dig(above), 8_000, "dig-up");
} catch (e) {
warn("action", `escape-pit dig-up failed: ${e.message}`);
break;
}
bot.setControlState("jump", true);
await new Promise((r) => setTimeout(r, 600));
bot.setControlState("jump", false);
await new Promise((r) => setTimeout(r, 400));
}
}
async function probeCardinalStep(bot, durationMs = 800) {
const trials = [];
for (const { name, yaw } of CARDINAL_YAWS) {