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nav: drop downstream-demo references from material.h + nav_material_deploy_test comments #544

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Merged
transfix merged 1 commit into from
Oct 2, 2026
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nav: drop downstream-demo references from material.h + nav_material_deploy_test comments #544

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2 changes: 1 addition & 1 deletion inc/cvc/nav/material.h
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Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,7 @@ struct material_drive {
float d_hat_m = 12.0f; // m grl_snam MaterialParams for why)
// Authority MULTIPLIERS on the reroute weights (default 1.0 = no-op). A lam-head net
// OVERRIDES lam_soft/lam_hard with its learned per-agent columns, so a caller that wants to
// live-scale material authority (e.g. demo3's force-bias slider) applies the factor here and
// live-scale material authority (e.g. a live UI force-bias slider) applies the factor here and
// the drive multiplies the learned lam by it, instead of the caller's fixed lam being clobbered.
float lam_soft_scale = 1.0f;
float lam_hard_scale = 1.0f;
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6 changes: 3 additions & 3 deletions src/cvc/tests/nav_material_deploy_test.cpp
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Expand Up @@ -307,7 +307,7 @@ TEST(NavMaterialDeploy, LearnedLamHeadDrivesReroute) {
// (5) The SHIPPED cvc-dbg-weights nav policy layout: 6-input RISK-ONLY + lam head — has_risk() but
// NOT has_mu() (no grip column), out=4. grl-snam `coef_train --w-risk --learned-lam` produces
// exactly this (add_lam_head(add_risk_feature(CoefMLP()))), and it's what ships as
// coef_mlp_riskaware.cvcnav / demo3's --grip auto-load. The other tests above drive a 7-in
// coef_mlp_riskaware.cvcnav / the --grip auto-load. The other tests above drive a 7-in
// grip+risk net; pin the shipped risk-only+lam contract too — it round-trips through .cvcnav and
// drives the material path (which a risk net REQUIRES; the grip field is present but unused as a
// feature since has_mu()==false).
Expand Down Expand Up @@ -577,7 +577,7 @@ TEST(NavMaterialDeploy, LamSoftScaleMultipliesLearnedReroute) {
}

// Regression for cvcdbg #141 ("attach material stack to the STARTUP world under --grip"). The
// demo3 crash was a --grip startup world that auto-loaded the widened risk net but stepped it
// crash was a --grip startup world that auto-loaded the widened risk net but stepped it
// through the NON-material drive (no material stack attached) — which the plain drive REJECTS, so
// the throw escaped as an uncaught exception at the first frame. The demo binary is not in CI, so
// pin the underlying library invariant here: a terrain-risk net is rejected by drive_step and
Expand All @@ -587,7 +587,7 @@ TEST(NavMaterialDeploy, RiskNetRejectedByPlainDriveAcceptedByMaterialDrive) {
deploy_world w;
coef_mlp net = make_net(7, 4, coef_mlp::kFlagFeatMu | coef_mlp::kFlagFeatRisk, 0.5f);
ASSERT_TRUE(net.has_risk());
// Non-material drive on a risk net: throws (this is the exact throw the demo3 startup hit).
// Non-material drive on a risk net: throws (this is the exact throw the --grip startup hit).
std::vector<float> o1 = w.o, th1 = w.th, sp1 = w.sp, mc1(w.N);
EXPECT_THROW(drive_step(w.fs, o1.data(), th1.data(), sp1.data(), w.carrot.data(), net, w.N,
nullptr, w.v, mc1.data(), 1),
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