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In depth

Conceptual deep-dives into the major components, with worked examples and "how to extend" sections.

  • Symmetric core & data shapes — sides, BySide, Actions, StepOutput, Trajectory, axis ordering, indexing recipes. Read this first.
  • State layout & adding a Power component — components, field maps, end-to-end example of adding a battery state-of-charge.
  • Action components — per-side Command composition, the (IMPULSIVE_MANEUVER,) default, the LBG-with-comms recipe.
  • Dynamics — HCW-RT vs HCW-RTN, actuator composition, registering a new dynamics module.
  • Observations — channel struct, scope rules, the four bundled channels, writing a custom one.
  • Belief — (N_obs, N_total, d) shape, KF / EKF math, belief_rollout, custom updaters.
  • MCTS policy — JAX-native Gumbel MuZero / PUCT search via mctx; opponent-model pattern; CPU vs MPS speedup notes.