MICRO MOUSE BENCHMARK · DAILY MAZES

Qwen3.8 27B on the daily maze of 2026-10-08

Did not reach the dock: the clock reached the 47 s limit 0% of the way along the route, after 73 wall hits. The median of 39 people who raced it was 15.625 s (the middle half 14.57 to 17.367 s, the best 13.500 s); the game's bot takes 15.592 s. All of Qwen3.8 27B's runs.

RESULTOut of time

TIMEn/a

MEDIAN PERSON15.625 s

BOT15.592 s

SCORE0

WALL HITS73

REPLIES61

MODEL TIME18.4 min

COSTlocal, no list price

TOKENS IN / OUT96,838 / 11,544

REQUESTS61

The maze and the path it droveSeen from above. The dashed line is the game's bot on the same maze. Each dot marks where a reply began.

Its pathThe bot's pathDockMudBoost pad

Every reply

Where the robot was when the game paused, how far it still had to go, and the controls the model sent for the next stretch, with anything the game moved, cut or skipped. The run file carries an arcade-session/1 envelope. Its input tape, in the game's own format, replays this exact run at Micro Mouse commit 87bf0cb.


<drive>
0.5 throttle 0.6 steer 0
0.5 throttle 1 steer 0
</drive>
I'm at (5.50, 3.54) facing up, moving up at 1.62. Cell (5,3) opens up/down to the dock path, but the route through the middle corridor (row 4) is blocked to the left of column 4, so the shortest legal path goes up, across row 2, and down to the dock. I'll continue driving up toward row 2 at full throttle.

<drive>
0.5 throttle 1 steer 0
</drive>
,2), heading up (-90°) at speed 1.91. The dock is at (5,5) — straight down the right column. The path straight down column 5 is fully open: (5,2)→(5,3)→(5,4)→(5,5).

I've been driving up (wrong direction) for a couple of replies. Now I need to turn 180° and head down. To do a fast 180° turn I'll drift-charge through the turn and release for a boost, which is far quicker than a slow pivoting hairpin. I'll steer left (anticlockwise) while holding drift, then release drift with throttle for the boost.

<drive>
0.35 throttle 1 steer -1 drift
0.15 throttle 1 steer -1
0.4 throttle 1 steer 0
</drive>
Let me figure out where I am and the best way to reach the dock at (5.5, 5.5).

I'm in cell (5,1) facing up-ish, and cell (5,2) is open above me. The straight path down column 5 leads directly to the dock. I need to flip 180 degrees to face down.

<drive>
0.3 throttle 0 steer 1
0.3 throttle 0 steer 1
0.2 throttle 0 steer 1
0.6 throttle 1 steer 0
</drive>
 -78° to +90°, which is +168° (rightward/clockwise = positive steer).

At the slow pivot rate (~117°/s), 168° takes about 1.44s. But with some speed, it'll be faster. Let me do 0.5s of turning, then reassess.

Actually, let me think about turning direction. Heading -78° means pointing up-right. I need to point down (+90°). Going clockwise (right/positive steer): -78° → 0° → 90°. That's 168° clockwise. Going counterclockwise (left/negative steer): -78° → -180° → 90°. That's 192° counterclockwise. So clockwise (steer +1) is shorter.

<drive>
0.5 throttle 0 steer 1
0.5 throttle 0 steer 1
</drive>
I need to reposition the robot. Currently heading 25° (down-right) with the wheel locked right, which has me turning into the right wall (no opening to the right). Cell (5,1) opens only up and down, and the dock is below me (cell 5,5), so I should reset the wheel and drive downward.

<drive>
0.2 throttle 0 steer 0
0.4 throttle 1 steer 0
</drive>
 left (to 2,3)
From (2,3): open to down (to 2,4)
From (2,4): open to right (to 3,4)
From (3,4): open to right (to 4,4)
From (4,4): open to down (to 4,5)
From (4,5): open to left (to 3,5)
From (3,5): open to right (to 4,5) and (5,5)

So I need to go: down, left, down, left, left, down, right, right, down, left, right to reach the dock.

I'm currently in cell (5,1) at x=5.33, y=1.82, heading 33 degrees (roughly right and slightly down). I need to head down to (5,2).

Let me go down first. I need to steer to head down (90 degrees).

<drive>
0.3 throttle 1 steer 0.5
0.4 throttle 1 steer 0
</drive>
I need to get from cell (5,2) down to the dock at (5,5), but there's a wall blocking the direct path. Let me go up through cell (3,1), then right to (4,1), then down through (4,3), (4,4), and finally left into (5,5).

First, turn to face up (heading -90 degrees) to exit through the open north wall.

<drive>
0.3 throttle 0.5 steer -1
</drive>
ighbours are **up** and **down** (no left/right). So I must go straight.
- My centre x is 5.85 (right of the cell centre 5.5). Heading 33° is tilted up-right. Going "up" while leaning right will push me into the right wall — that's the hit I keep getting.
- Plan: align heading straight up (−90°) from my current 33° = 123° of **left** turn (wheel is already at full left, so it's already turning the right way). Then drive straight up to cell (5,1), straighten to face right (90°) into the dock corridor, and use the boost pad later.

<drive>
0.45 throttle 0 steer -1
0.3 throttle 1 steer 0
</drive>
Looking at the situation: I'm at (5.85, 2.57) in cell (5,2), nearly stopped (0.06 cells/s), facing -28° (up-right). This cell is open up and down. I need to reach the dock at (5.5, 5.5).

Best route: go down the right corridor (5,2)→(5,3)→(5,4), then left across row 4 into (4,4), down to (4,5), then right to the dock (5,5). The only way in to cell (4,5) is from the north, so I must enter row 5 at column 4.

I'll start by turning to face straight down and rolling toward the open gap.

<drive>
0.4 throttle 0 steer 1
0.3 throttle 0.8 steer 0
</drive>
n see a wall-hit occurred last turn, so the wheel may still be turning. To drive down cleanly I need:
1. Let the wheel settle back to centre (avoid the sideways slide that hit the wall).
2. Turn to face straight down (90°) — currently facing ~13°, need to rotate right (clockwise) on screen.
3. Then accelerate down the corridor.

Steering right (+1) from 13° increases the heading toward 90°. I'll do a controlled turn with light throttle (the robot is already moving slowly), then build speed on the straight.

<drive>
0.2 throttle 0 steer 0
0.4 throttle 0.5 steer 1
0.4 throttle 1 steer 0
</drive>
The robot is in the right-most corridor (cell 5,2), facing down-left (54°) while moving straight down. There are open paths up and down from here, and the dock (5,5) is straight down the corridor, so the fastest line is to drive down. I'll align to due-down (90°) with a gentle right steer and throttle, staying centred in the corridor to avoid the corridor walls, and reach the junction near (5,3)/(5,4).

<drive>
0.2 throttle 1 steer 0.5
0.3 throttle 1 steer 0
0.5 throttle 1 steer 0
</drive>
 slams into x=6. I need heading ≈ 90° (straight down) to use the column-5 corridor.
- Route: go straight down column 5 to (5,5), where the dock is. (5,5) is open to the left, and (4,5) has no right wall — so there's also an east-west path at the bottom.
- Cell (4,5) has an east-west boost pad (`>`) — if I line up rightward into it, I can grab a 2.31 burst and slide into the dock.

First fix: straighten from 65° to 90° (a ~25° right turn) while keeping throttle up. At ~0.5–0.7 cells/s with steer +1 that's roughly 0.25–0.3 s of arc.

<drive>
0.3 throttle 1 steer 1
0.3 throttle 1 steer 0
</drive>
Looking at the situation: I'm in cell (5,3) at x 5.81, y 3.53, heading ~99° (moving down/right). The dock is in cell (5,5), roughly straight down (x≈5.5, y≈5.5). Row 4 cell (5,5) is open to up and down, and I'm aligned nearly vertically to the dock, so a straight drive down should finish it.

My last steer-right (toward the wall) cost me a hit. Now I'll straighten out and drive straight down toward the dock, then ease off at the end.

<drive>
0.15 throttle 1 steer -0.5
0.3 throttle 1 steer 0
0.15 throttle 0.6 steer 0
</drive>
ht down into the dock cell.
- To face down I need heading 90°, which is essentially where I already am (89°).
- My x (5.78) is a bit right of the dock's x (5.50); the dock radius is 0.29, so I'm within x reach, but I should bias slightly left (steer −) as I drive down to aim into the dock centre.

Plan: a tiny left steer to align heading to ~90° and nudge x left, then drive straight down into the dock. I'll stop throttle near the dock to avoid overshooting, since the dock is only ~1.1 cells away.

<drive>
0.1 throttle 1 steer -0.4
0.4 throttle 0.85 steer -0.1
0.15 throttle 0.5 steer 0
</drive>
 drifting toward the right wall.
- Heading 78° (roughly down-right).
- The dock is at (5.5, 5.5) — almost directly below, about 0.65 cells away.
- Last attempt hit a wall; I need a clean, gentle approach down into the dock.

Strategy: gently steer heading to 90° (straight down) while moving forward slowly, so the robot creeps down into the dock at (5.5, 5.5) without slapping a wall. I'll start throttle very low and nudge steer slightly right to line up heading toward 90°, then commit straight down.

<drive>
0.2 throttle 0.2 steer 0.2
0.3 throttle 0.2 steer 0
0.25 throttle 0.25 steer 0
</drive>
Looking at the maze, I'm in cell (5,4), heading ~83° (facing down). The dock is in (5,5), directly below me. This cell opens up and down, and the previous attempts kept nudging me sideways (wall hits). The clean move is to face straight down and drive into the dock.

<drive>
0.25 steer 0.2
0.4 throttle 0.6
</drive>
n down), and row 5 cell (5,5) is open up ("u"). So a straight path down from here into the dock cell is clear.
- The dock is almost directly south of me (Δ = -0.35 x, +0.65 y) → straight down is heading 90°. I'm currently at ~88°, so a tiny right nudge plus a straight drive will land me right on the dock centre.
- With full throttle from rest, after ~0.55 s I cover ~0.45 cells (up to y ≈ 5.30) and am still above the dock (5.5); then I cut speed for a gentle final approach into the 0.29-radius dock.

<drive>
0.15 throttle 0.6 steer 0.2
0.4 throttle 0.9 steer 0
0.4 throttle 0.15 steer 0
</drive>
f (5,5), located at the left part of that boundary (x 4.98–5.02).

Right now the robot is at x 5.85, y 4.85, facing ~92° (down) — so pointing straight at the right wall. I need to shift the robot a bit left toward the gap while turning to face straight down, then drive through the gap into the dock.

So: ease the throttle (low speed), steer gently right to bring the heading to 90° and nudge the robot leftward into the gap, then point straight down and push forward through the opening into the dock.

<drive>
0.2 throttle 0.3 steer 0.35
0.25 throttle 0.5 steer 0
0.3 throttle 0.9 steer 0
</drive>
 I'm in cell (5,4), just above the dock in (5,5).
- The dock is directly **below** me (centre 5.50, 5.50); I'm at (5.84, 4.85), so it's slightly left and down.
- Cell (5,4) opens down; cell (5,5) opens up — the route is clear.
- I've been stalling against the side wall (20 hits) — I need to steer a touch left to centre toward the dock.
- Target direction is about 95°, I'm at 99°, speed is ~0.02.

Plan: nudge the wheel slightly left to aim at the dock, then throttle through the gap and onto the dock.

<drive>
0.25 throttle 0.4 steer -0.15
0.3 throttle 1 steer 0
0.2 throttle 0.5 steer 0
</drive>
 their right — so the only corridor to the dock runs down column 5. The robot is sitting just above the dock, so a clean short move straight down into the dock finishes the run.

The prior attempt wall-hit because the heading drifted to ~99° and the wheel was still deflected, angling the robot into the right/bottom walls. So: first neutralise the wheel, steer back to exactly 90°, then drive straight down at moderate throttle to reach the dock centre (5.5, 5.5) without overshooting into the far wall.

<drive>
0.25 throttle 0 steer 0
0.4 throttle 0.6 steer -0.1
0.25 throttle 0.5 steer 0
</drive>
ing 95° (pointing down/right), speed 0.
- I'm stuck against the right wall of column 5; cell (5,4) is only open **up** toward (4,4).
- The last reply tried to go down and kept hitting the wall (2 hits, barely moved).
- The only way out of (5,4) is to head **up** to cell (4,4). From there I must navigate the open area to the left and eventually down to the dock at (5,5).

First move: face up and travel to (4,4), then turn to continue.

<drive>
0.15 throttle 0 steer 1
0.15 throttle 0 steer 1
0.2 throttle 1 steer 0
0.15 throttle 1 steer 0
0.2 throttle 0 steer -1
0.2 throttle 0.6 steer -1
</drive>
 cell (5,4) at (5.80, 4.85), essentially stopped, heading 92° (pointing slightly right of straight-down). The cell (5,4) is open only downward toward the dock cell (5,5), which sits directly below me — the dock centre is at (5.5, 5.5). My wheel is hard-locked left (-1.00), so I need to re-centre it and face straight down (90°) before driving into the dock.

Plan: briefly kill the wheel toward centre (steer +), re-align heading to ~90°, then throttle straight down into the dock.

<drive>
0.25 throttle 0 steer 0.7
0.1 throttle 0 steer 0.2
0.35 throttle 1 steer 0
0.3 throttle 0.6 steer 0
</drive>
- Cell (5,5) opens UP only (u) — its only entrance is from above.
- Cell (5,4) opens down into (5,5) which opens up into the dock area.

So the cleanest path is: turn to face down (90°), go straight down through (5,5) toward the dock at (5.5, 5.5). I'm nearly facing down already (80°) and almost stopped.

The dock centre is 0.65 cells below me and slightly left. Going down at x≈5.82, I'll need to ease left as I approach. Let me align to ~90° and push down, then trim left to meet the dock radius (0.29).

<drive>
0.3 throttle 0 steer 0.3
0.5 throttle 1 steer 0.2
0.2 throttle 0.6 steer 0
</drive>
Looking at the maze, I'm in cell (5,4) and the dock is at (5,5). Cell (5,4) opens to the left and up. I need to go up to row 3, cross left to (3,3) or (4,3), down to (4,4), then into (5,5).

The fastest path: go left to (4,4) [since (5,4)→(4,4) is open], but (4,4)→(5,4) won't help me reach dock. Actually I should go UP to (5,3), then left to (4,3)/(3,3), then down to (3,4)/(4,4), then into dock.

Let me head up (toward -90 degrees / up) to get out of (5,4) into (5,3).

<drive>
0.4 throttle 1 steer -1
0.6 throttle 1 steer -0.4
</drive>
t (5.85, 4.85) in cell (5,4), facing 40°, speed 0, with the wheel still turned left at -0.41. The dock is at (5.5, 5.5) in cell (5,5), directly below me across the open "down" edge.

Let me plan: I need to face roughly down (90°). From 40°, that's a +50° right turn (steer +1). At speed 0 the robot pivots at about 117°/s, so ~0.5 s. I'll center the wheel first (the -0.41 bias fights a right turn), then steer right with light throttle to pivot toward the dock, and finally drive straight down into cell (5,5).

<drive>
0.1 throttle 0 steer 0
0.4 throttle 0 steer 1
0.5 throttle 0.6 steer 1
</drive>
Looking at the state: I'm in cell (5,4), which is open only upward (toward the dock at (5,5) centre (5.5, 5.5)). My wheel is fully right-locked and my heading is ~130°, so I need to straighten up and face straight down (90°) to drive cleanly into the dock. With no throttle the wheel re-centres as I pivot.

<drive>
0.5 throttle 0 steer -1
0.5 throttle 0.9 steer 0
</drive>
I'm in cell (5,4) and need to reach the dock at (5,5) just below me. I'm currently facing 121° (roughly down‑left) and moving very slowly. Let me square up heading straight down and drive onto the dock.

<drive>
0.4 throttle 0 steer -0.8
0.4 throttle 1 steer 0
</drive>
Looking at the situation: I'm in cell (5,4) at (5.80, 4.85), which is in the rightmost column. The dock is at (5.50, 5.50) in cell (5,5) directly below me. This cell is open to the down side, and the dock is within radius 0.29 — I'm about 0.65 cells away, so I just need to drive straight down into it.

I'm facing 88 degrees (nearly straight down). I'll drive forward with no steering to slide straight into the dock.

<drive>
0.4 throttle 1 steer 0
0.25 throttle 1 steer 0
</drive>
Looking at the maze, I'm at cell (5,4) with the dock directly below me in cell (5,5). I'm already facing 88° (almost perfectly downward). The cell is open to the down side.

I just hit the wall 2 times (likely clipped the corner), so I'll go slowly and carefully to center myself and drop into the dock.

<drive>
0.3 throttle 0.5 steer 0
</drive>
I'm in cell (5,4), stopped, heading ~right (+x) toward the closed right wall. I need to reach dock (5,5) which is straight below me. I'll turn down, then drive down into the dock.

<drive>
0.2 steer 0.5 throttle 0
0.4 throttle 1 steer 0
</drive>
Looking at the layout: I'm in cell (5,4), facing roughly straight down (98°). The only opening is **down** into cell (5,5) which holds the dock at centre (5.5, 5.5). My centre is at (5.8, 4.85); I need to go to about (5.5, 5.5) — straight down and slightly left. The right and left sides of this cell are closed, so a clean down‑drive through the gap will drop me onto the dock.

I'll correct the heading to exactly 90° (slight left steer, no throttle) then drive straight down with throttle until I reach the dock.

<drive>
0.15 throttle 0 steer -0.5
0.4 throttle 1 steer 0
</drive>
<drive>
0.5 throttle 0 steer -0.9
</drive>
ing 49° (right-down), wheel still at -0.91 from my last steering input. The dock is at (5.50, 5.50) in the cell below-right of me, reachable by going **down** then **left** (cell (5,4) opens down, cell (5,5) opens left).

Since I'm stopped, I'll pivot in place (no throttle) to line up heading to 90° (straight down). My wheel is currently at -0.91, so I need steer +1 to bring the wheel back toward centre and then lock right. A full steer at speed 0 turns about 117°/s, so ~0.41 s gets me from 49° to 90°. I'll use 0.45 s to be safe and land just past 90°.

<drive>
0.45 throttle 0 steer 1
</drive>
Looking at the situation: I'm stuck at (5.80, 4.85) in cell (5,4), 42 wall hits and barely moving. The dock is at (5.5, 5.5) — only about 0.75 cells below me. The cleanest escape is to back out to the left through the open gap at x=5, then come back and drop straight into the dock.

I'll first straighten the wheel to centre (so I can pivot without drifting), then reverse left to escape into the open cell (4,4).

<drive>
0.1 throttle 0 steer -1
0.35 throttle 0 reverse 1
</drive>
Looking at the situation:
- Robot at (5.75, 4.76), heading 60° (down-right), speed 0.59
- Dock at (5.5, 5.5) — I need to go down and slightly left
- Cell (5,4) is open down to (5,5) where the dock is
- The dock centre is 0.75 cells below me

I need to turn to face down (90°) and drive straight to the dock. I'm already moving somewhat toward -120° (up-left) but with low speed. Let me turn right to face down and accelerate toward the dock.

<drive>
0.3 throttle 0 steer 1
0.5 throttle 1 steer 0
</drive>
Looking at the situation: the robot is at (5.72, 4.85) in cell (5,4), heading 89° (right), speed 0. Cell (5,4) opens up, left, and down. The dock is at (5.5, 5.5) directly below.

My plan: turn to face down (90°) precisely, then drive straight down through the opening into the dock. From the last reply, steer +1 for 0.3s turned 60°→89°, so I need about 0.15s more to reach exactly 90°, then hold straight to the dock.

<drive>
0.15 throttle 0 steer 1
0.5 throttle 1 steer 0
</drive>
I'm in cell (5,4), almost stopped, heading ~98° (pointing down). The dock (5,5) is directly below me. I need to realign to face straight down (90°) and drive into it, while making sure the wheel is centred and I'm not nudged into the right wall.

<drive>
0.4 throttle 0 steer -1
0.5 throttle 1 steer 0
</drive>
Looking at the situation: the robot is in cell (5,4) at (5.75, 4.85), heading 57° (roughly down-right), very slow (0.08). The dock is directly below in cell (5,5). This cell is open only to the up, so I need to reach the dock through the down edge.

The robot's centre is already close to the dock (5.50, 5.50) — only about 0.74 cells away. I just need to head down (+90°) and move forward. Heading 57° needs to rotate to 90°, so a slight right steer while applying throttle will point me down and start moving.

<drive>
0.5 throttle 1 steer 0.5
</drive>
en to the **up** — no down, no left, no right. So I'm boxed in on three sides by walls, with a narrow opening upward into the (4,3)/(5,3) corridor.

Since I'm stuck in a dead-end pocket and the only exit is upward, I need to go up through the corridor, loop around the maze, and eventually come back down into the dock. My current wheel is at +0.50 (right) and heading 83° (roughly down), so I need to re-orient up.

Let me steer hard right to turn my heading up (toward 270°/-90°) and align the wheel so I can push through the opening.

<drive>
0.5 throttle 0 steer 1
0.3 throttle 1 steer 1
</drive>
Looking at the situation: I'm in cell (5,4) heading roughly left (176°) but that wall is closed. The dock is straight down through cell (5,5). I need to face down (90°) and drive into the dock. From 176° to 90° is 86°; at low speed that's about 0.74 s of steering, then drive down ~0.6 cells to the dock.

<drive>
0.8 throttle 0 steer 1
0.6 throttle 0.6 steer 0
</drive>
Looking at the state: the robot is in cell (5,4), already directly above the dock cell (5,5), which is open to the up. So I just need to head down (90°) into the dock. Current heading is -116°; turning right (+steer) the short way brings it through 0° (right) to 90° (down) — about 206° of rightward rotation.

I'll turn the wheel right without throttle first to pivot quickly, then commit throttle as I align toward down.

<drive>
0.3 throttle 0 steer 1
0.3 throttle 0.6 steer 1
0.3 throttle 0.8 steer 0
</drive>
n passage** from here to the dock; I must loop around via (4,4) → (4,5) → (5,5). That's why the route shows 31 cells.

My heading -43° is aimed up-right, away from where I need to go (left, toward (4,4)). I must turn to face **left (180°)** and drive into (4,4). Turning from -43° toward +180° requires rightward steering (clockwise). I'll use the momentum: full steer right for the turn, then throttle once I'm aligned leftward, stopping just past the wall gap into (4,4).

<drive>
0.25 throttle 0.2 steer 1
0.25 throttle 0.5 steer 1
0.25 throttle 0.8 steer 0.4
0.25 throttle 0.6 steer -0.2
</drive>
<drive>
0.5 throttle 0.7 steer -1
0.3 throttle 0.6 steer 0.3
</drive>
I'm in cell (5,3), near the top of that column, with the dock at (5,5). I need to face down (90°) and move straight down through (5,4) into the dock. Let me point down and drive.

<drive>
0.2 throttle 0.8 steer +1
0.3 throttle 0.8 steer 0
0.3 throttle 0.9 steer 0
</drive>
0.04). The dock is at (5.50, 5.50). Cell (5,3) is open up/down, but (5,4) below is only open up (closed down), and (5,5) has only left open. The direct path to dock goes through (5,4) which is a dead end.

The route from (5,3) is: left to (4,3) → down to (4,4) → down to (4,5) → right to (5,5). First move is LEFT. I need to face 180° (left). From -21° (which is 339°), the shortest turn is right (clockwise, +steer) through 0° and 90° to 180°.

Since I'm nearly stopped, I'll do an in-place turn (no throttle) with full right steer, then verify heading before driving.

<drive>
0.65 steer 1
</drive>
Looking at the maze: I'm in cell (5,3) with open up and down. The dock is at (5,5). Cell (5,4) between me and the dock is open only to the right (wall on left), so I must drop down from (5,3)→(5,4), then right into the open row 5, then left to the dock.

I need to face down (+90°) from my current ~24° heading, and I'm already holding right steer (which turns me clockwise toward 90°). Keeping throttle on will carry me into the cell below.

<drive>
0.5 throttle 1 steer 1
</drive>
Looking at the maze, my best route to the dock is: go **down** to cell (5,5) which opens directly **left** to the dock at (5.5, 5.5). I'm currently in (5,4) facing right (toward a wall). I'll straighten and reverse into the cell centre, then drive down.

<drive>
0.25 throttle 0 steer -1
0.35 reverse 1 steer 0
0.4 throttle 1 steer 0.6
</drive>
I'm in cell (5,3), heading ~125°, need to go down to the dock at (5,5). Let me align to face straight down (90°) with a small right turn, then drop through (5,4) and (5,5).

<drive>
0.2 throttle 0 steer 0.7
0.3 throttle 1 steer 0
0.5 throttle 0.9 steer 0.1
</drive>
s in cell (5,5), whose centre is (5.5, 5.5) — directly below me, and this cell is open toward the south.

Best plan: align to point straight down (90°), drive through the open gap to the dock cell, then come to a controlled stop near the dock centre. Heading 154° means I need to turn right toward 90° (passing through 120°), about 64° of right turn.

I'll ease off throttle while turning (cleaner wheel movement), then throttle straight down and brake before overshooting the dock.

<drive>
0.3 throttle 0.4 steer 0.7
0.2 throttle 0.7 steer 0.1
0.4 throttle 1 steer 0
0.3 throttle 0 brake 1
</drive>
Looking at the maze, the robot is at (5.15, 4.43) in cell (5,4) which opens only **up** to cell (5,3). From (5,3) it opens up and left, then I can route through cells (4,3)→(4,4)→(5,5) to the dock.

The robot's heading is about -178° (facing left) but I need to face **up (-90°)** to leave through this cell's only opening, then head down-left to the dock.

<drive>
0.4 throttle 0.8 steer 0.8
0.3 throttle 1 steer 0
0.3 throttle 1 steer -0.5
</drive>
 -0.5 (left).

The shortest path is to turn around and drive straight down through cell (5,4) into (5,5) to hit the dock. I'm essentially facing the wrong way and slightly left of the dock's centerline, so I need a big rightward correction (steer +) to come around to face down, then a small left to straighten onto the dock column.

Plan: swing right toward heading +90° (down), then nudge left to align on the dock's vertical line (x ≈ 5.5), then drive forward into the dock.

<drive>
0.4 throttle 0.6 steer 0.7
0.4 throttle 0.6 steer 0.2
0.2 throttle 0.4 steer -0.2
0.4 throttle 1 steer 0
</drive>
5.5, 5.5), which is directly **below** me (down, +y = heading +90°).
- Cell (5,4) is open to the down side → I can go straight down into cell (5,5) where the dock is.
- I need to turn from -136° to +90°, i.e. rotate +226° clockwise (about 2.08 s at ~109°/s) before driving down.
- Wheel is at -0.20 (left); let it relax to centre so I can turn cleanly right.

Plan: pivot in place turning right (steer +1) for ~2.2 s to face down, then drive forward into the dock.

<drive>
0.5 throttle 0 steer 1
0.5 throttle 0 steer 1
0.5 throttle 0 steer 1
0.5 throttle 0 steer 1
0.45 throttle 0.5 steer 0
</drive>
d right (+1.00) from last turn. The dock is at (5.5, 5.5), which is down and slightly right of me. Cell (5,4) opens only up (left/right are walls), and there's an open gap below the (4,4)-(4,5) wall.

The cleanest path is to swing my nose around to point down-and-right toward the dock, then drive forward through the opening in (4,5). I'll ease off steer to let the wheel relax from full right, then add gentle throttle so the forward push plus the wheel's natural re-centre brings the heading to roughly -60°, aimed toward the dock.

<drive>
0.5 throttle 0 steer 0
0.5 throttle 0.5 steer 0
</drive>
tion: I'm in cell (5,4), the robot start position, and need to get to the dock at (5,5) which is directly below me. My current heading is -31° (pointing up-right), so I need to turn to face down (+90°) before driving into the dock.

Let me turn from -31° to +90°: that's 121° of rightward (clockwise) rotation. At my current slow speed (~0.74 cells/s), full-steer rotation is roughly 117–130°/s, so about 0.9–1.0 s to complete the turn. I'll do it in two segments, then verify heading before committing to a forward drive into the dock.

<drive>
0.5 throttle 0 steer 1
0.5 throttle 0 steer 1
</drive>
cell (5,5) at (5.50, 5.50), directly below me through the open gap at the bottom of cell (5,4).
- I must not drift off into cell (4,5): that cell's right side is open, so a rightward drift could bounce me against the (4,5)/(5,5) wall and cancel my progress. So I'll steer **left** (toward x=5, the far corner of (5,5)) and ease in slowly.

Plan: a gentle left-corrected, low-throttle crawl straight down the column to the dock centre, staying near the left wall so I can't slip right into (4,5).

<drive>
0.3 throttle 0.4 steer -0.5
0.3 throttle 0.35 steer -0.3
0.25 throttle 0.25 steer -0.2
</drive>
Looking at the maze, the dock is at (5,5), directly **below** the robot's current position (5,4). There's a clear opening between these two cells.

The robot is currently heading 69° (roughly down-right) but needs to head ~90° (straight down) to travel the ~1.05 cell distance to the dock. The robot needs to turn right (clockwise) about 20°. The wheel is currently at -0.20 (left), so the robot was turning left — I need to switch to a right steer to point more directly downward.

<drive>
0.2 throttle 0.7 steer 0.4
0.4 throttle 1 steer 0
</drive>
Looking at the situation:
- Robot at (5.64, 4.85) in cell (5,4), heading 76° (almost straight down)
- The dock is at (5.50, 5.50) directly below, only ~0.65 cells away
- Cell (5,4) is open to down ("u" = up is open, which means down is also open to cell (5,5))
- Speed is very low at 0.04

The dock is nearly straight ahead (76° vs 90° = 14° off). I need to go down slightly and adjust right. Let me aim straight down and drive to the dock.

<drive>
0.3 throttle 1 steer 0.2
0.3 throttle 0.9 steer 0.1
</drive>
I'm at (5.65, 4.85) facing roughly 86° (down), just above the dock cell (5,5). The direct path is a short 0.5 cell straight down into the dock centre — the route counter is just inflated by the maze graph. I'll go straight down, full throttle.

<drive>
0.4 throttle 1 steer -0.1
</drive>
<drive>
0.5 throttle 0.7 steer 0
</drive>
 (5,4) opens up, right, and left — but down is walled. That's why my forward drive hit the bottom wall twice.
- The dock is at (5.5, 5.5) in cell (5,5). This cell connects down into it (row 4 right opens down).
- I need to turn to face right (0°), drive to the right-side opening, then down into the dock.

To my right (+x) is a wall at x≈6, so I can only push right about 0.24 cells before hitting it. I'll make a tight right turn to face the opening, nudge in, then head down.

<drive>
0.3 throttle 0.5 steer 1
0.2 throttle 0.6 steer 0.6
0.4 throttle 0.8 steer 0
0.3 throttle 0.7 steer 0.6
</drive>

Reply	Clock (s)	Robot (x, y in cells)	Controls sent
1	0.00	5.50, 4.500.00 cells/s · 31 cells to go	0.5 s · throttle 0.6 · steer 0 0.5 s · throttle 1 · steer 0	Reply <drive> 0.5 throttle 0.6 steer 0 0.5 throttle 1 steer 0 </drive>
2	1.00	5.50, 3.541.62 cells/s · 30 cells to go	0.5 s · throttle 1 · steer 0	Reply I'm at (5.50, 3.54) facing up, moving up at 1.62. Cell (5,3) opens up/down to the dock path, but the route through the middle corridor (row 4) is blocked to the left of column 4, so the shortest legal path goes up, across row 2, and down to the dock. I'll continue driving up toward row 2 at full throttle. <drive> 0.5 throttle 1 steer 0 </drive>
3	1.50	5.50, 2.661.91 cells/s · 29 cells to go	0.35 s · throttle 1 · steer -1 · drift 0.15 s · throttle 1 · steer -1 0.4 s · throttle 1 · steer 0 1 wall hit	Reply ,2), heading up (-90°) at speed 1.91. The dock is at (5,5) — straight down the right column. The path straight down column 5 is fully open: (5,2)→(5,3)→(5,4)→(5,5). I've been driving up (wrong direction) for a couple of replies. Now I need to turn 180° and head down. To do a fast 180° turn I'll drift-charge through the turn and release for a boost, which is far quicker than a slow pivoting hairpin. I'll steer left (anticlockwise) while holding drift, then release drift with throttle for the boost. <drive> 0.35 throttle 1 steer -1 drift 0.15 throttle 1 steer -1 0.4 throttle 1 steer 0 </drive>
4	2.40	5.15, 1.800.03 cells/s · 28 cells to go	0.3 s · throttle 0 · steer +1 0.3 s · throttle 0 · steer +1 0.2 s · throttle 0 · steer +1 0.2 s · throttle 1 · steer 0 1 moved into range1 cut at the one-second limit	Reply Let me figure out where I am and the best way to reach the dock at (5.5, 5.5). I'm in cell (5,1) facing up-ish, and cell (5,2) is open above me. The straight path down column 5 leads directly to the dock. I need to flip 180 degrees to face down. <drive> 0.3 throttle 0 steer 1 0.3 throttle 0 steer 1 0.2 throttle 0 steer 1 0.6 throttle 1 steer 0 </drive>
5	3.40	5.16, 1.750.46 cells/s · 28 cells to go	0.5 s · throttle 0 · steer +1 0.5 s · throttle 0 · steer +1	Reply -78° to +90°, which is +168° (rightward/clockwise = positive steer). At the slow pivot rate (~117°/s), 168° takes about 1.44s. But with some speed, it'll be faster. Let me do 0.5s of turning, then reassess. Actually, let me think about turning direction. Heading -78° means pointing up-right. I need to point down (+90°). Going clockwise (right/positive steer): -78° → 0° → 90°. That's 168° clockwise. Going counterclockwise (left/negative steer): -78° → -180° → 90°. That's 192° counterclockwise. So clockwise (steer +1) is shorter. <drive> 0.5 throttle 0 steer 1 0.5 throttle 0 steer 1 </drive>
6	4.40	5.17, 1.720.00 cells/s · 28 cells to go	0.2 s · throttle 0 · steer 0 0.4 s · throttle 1 · steer 0	Reply I need to reposition the robot. Currently heading 25° (down-right) with the wheel locked right, which has me turning into the right wall (no opening to the right). Cell (5,1) opens only up and down, and the dock is below me (cell 5,5), so I should reset the wheel and drive downward. <drive> 0.2 throttle 0 steer 0 0.4 throttle 1 steer 0 </drive>
7	5.00	5.33, 1.820.93 cells/s · 28 cells to go	0.3 s · throttle 1 · steer +0.5 0.4 s · throttle 1 · steer 0 1 wall hit	Reply left (to 2,3) From (2,3): open to down (to 2,4) From (2,4): open to right (to 3,4) From (3,4): open to right (to 4,4) From (4,4): open to down (to 4,5) From (4,5): open to left (to 3,5) From (3,5): open to right (to 4,5) and (5,5) So I need to go: down, left, down, left, left, down, right, right, down, left, right to reach the dock. I'm currently in cell (5,1) at x=5.33, y=1.82, heading 33 degrees (roughly right and slightly down). I need to head down to (5,2). Let me go down first. I need to steer to head down (90 degrees). <drive> 0.3 throttle 1 steer 0.5 0.4 throttle 1 steer 0 </drive>
8	5.70	5.85, 2.490.57 cells/s · 29 cells to go	0.3 s · throttle 0.5 · steer -1 1 wall hit	Reply I need to get from cell (5,2) down to the dock at (5,5), but there's a wall blocking the direct path. Let me go up through cell (3,1), then right to (4,1), then down through (4,3), (4,4), and finally left into (5,5). First, turn to face up (heading -90 degrees) to exit through the open north wall. <drive> 0.3 throttle 0.5 steer -1 </drive>
9	6.00	5.85, 2.590.11 cells/s · 29 cells to go	0.45 s · throttle 0 · steer -1 0.3 s · throttle 1 · steer 0 1 wall hit	Reply ighbours are up and down (no left/right). So I must go straight. - My centre x is 5.85 (right of the cell centre 5.5). Heading 33° is tilted up-right. Going "up" while leaning right will push me into the right wall — that's the hit I keep getting. - Plan: align heading straight up (−90°) from my current 33° = 123° of left turn (wheel is already at full left, so it's already turning the right way). Then drive straight up to cell (5,1), straighten to face right (90°) into the dock corridor, and use the boost pad later. <drive> 0.45 throttle 0 steer -1 0.3 throttle 1 steer 0 </drive>
10	6.75	5.85, 2.570.06 cells/s · 29 cells to go	0.4 s · throttle 0 · steer +1 0.3 s · throttle 0.8 · steer 0 1 wall hit	Reply Looking at the situation: I'm at (5.85, 2.57) in cell (5,2), nearly stopped (0.06 cells/s), facing -28° (up-right). This cell is open up and down. I need to reach the dock at (5.5, 5.5). Best route: go down the right corridor (5,2)→(5,3)→(5,4), then left across row 4 into (4,4), down to (4,5), then right to the dock (5,5). The only way in to cell (4,5) is from the north, so I must enter row 5 at column 4. I'll start by turning to face straight down and rolling toward the open gap. <drive> 0.4 throttle 0 steer 1 0.3 throttle 0.8 steer 0 </drive>
11	7.45	5.85, 2.580.02 cells/s · 29 cells to go	0.2 s · throttle 0 · steer 0 0.4 s · throttle 0.5 · steer +1 0.4 s · throttle 1 · steer 0 2 wall hits	Reply n see a wall-hit occurred last turn, so the wheel may still be turning. To drive down cleanly I need: 1. Let the wheel settle back to centre (avoid the sideways slide that hit the wall). 2. Turn to face straight down (90°) — currently facing ~13°, need to rotate right (clockwise) on screen. 3. Then accelerate down the corridor. Steering right (+1) from 13° increases the heading toward 90°. I'll do a controlled turn with light throttle (the robot is already moving slowly), then build speed on the straight. <drive> 0.2 throttle 0 steer 0 0.4 throttle 0.5 steer 1 0.4 throttle 1 steer 0 </drive>
12	8.45	5.85, 2.670.23 cells/s · 29 cells to go	0.2 s · throttle 1 · steer +0.5 0.3 s · throttle 1 · steer 0 0.5 s · throttle 1 · steer 0 3 wall hits	Reply The robot is in the right-most corridor (cell 5,2), facing down-left (54°) while moving straight down. There are open paths up and down from here, and the dock (5,5) is straight down the corridor, so the fastest line is to drive down. I'll align to due-down (90°) with a gentle right steer and throttle, staying centred in the corridor to avoid the corridor walls, and reach the junction near (5,3)/(5,4). <drive> 0.2 throttle 1 steer 0.5 0.3 throttle 1 steer 0 0.5 throttle 1 steer 0 </drive>
13	9.45	5.85, 3.060.47 cells/s · 30 cells to go	0.3 s · throttle 1 · steer +1 0.3 s · throttle 1 · steer 0 1 wall hit	Reply slams into x=6. I need heading ≈ 90° (straight down) to use the column-5 corridor. - Route: go straight down column 5 to (5,5), where the dock is. (5,5) is open to the left, and (4,5) has no right wall — so there's also an east-west path at the bottom. - Cell (4,5) has an east-west boost pad (`>`) — if I line up rightward into it, I can grab a 2.31 burst and slide into the dock. First fix: straighten from 65° to 90° (a ~25° right turn) while keeping throttle up. At ~0.5–0.7 cells/s with steer +1 that's roughly 0.25–0.3 s of arc. <drive> 0.3 throttle 1 steer 1 0.3 throttle 1 steer 0 </drive>
14	10.05	5.81, 3.531.39 cells/s · 30 cells to go	0.15 s · throttle 1 · steer -0.5 0.3 s · throttle 1 · steer 0 0.15 s · throttle 0.6 · steer 0	Reply Looking at the situation: I'm in cell (5,3) at x 5.81, y 3.53, heading ~99° (moving down/right). The dock is in cell (5,5), roughly straight down (x≈5.5, y≈5.5). Row 4 cell (5,5) is open to up and down, and I'm aligned nearly vertically to the dock, so a straight drive down should finish it. My last steer-right (toward the wall) cost me a hit. Now I'll straighten out and drive straight down toward the dock, then ease off at the end. <drive> 0.15 throttle 1 steer -0.5 0.3 throttle 1 steer 0 0.15 throttle 0.6 steer 0 </drive>
15	10.65	5.78, 4.391.13 cells/s · 31 cells to go	0.1 s · throttle 1 · steer -0.4 0.4 s · throttle 0.85 · steer -0.1 0.15 s · throttle 0.5 · steer 0 1 wall hit	Reply ht down into the dock cell. - To face down I need heading 90°, which is essentially where I already am (89°). - My x (5.78) is a bit right of the dock's x (5.50); the dock radius is 0.29, so I'm within x reach, but I should bias slightly left (steer −) as I drive down to aim into the dock centre. Plan: a tiny left steer to align heading to ~90° and nudge x left, then drive straight down into the dock. I'll stop throttle near the dock to avoid overshooting, since the dock is only ~1.1 cells away. <drive> 0.1 throttle 1 steer -0.4 0.4 throttle 0.85 steer -0.1 0.15 throttle 0.5 steer 0 </drive>
16	11.30	5.84, 4.850.02 cells/s · 31 cells to go	0.2 s · throttle 0.2 · steer +0.2 0.3 s · throttle 0.2 · steer 0 0.25 s · throttle 0.25 · steer 0 2 wall hits	Reply drifting toward the right wall. - Heading 78° (roughly down-right). - The dock is at (5.5, 5.5) — almost directly below, about 0.65 cells away. - Last attempt hit a wall; I need a clean, gentle approach down into the dock. Strategy: gently steer heading to 90° (straight down) while moving forward slowly, so the robot creeps down into the dock at (5.5, 5.5) without slapping a wall. I'll start throttle very low and nudge steer slightly right to line up heading toward 90°, then commit straight down. <drive> 0.2 throttle 0.2 steer 0.2 0.3 throttle 0.2 steer 0 0.25 throttle 0.25 steer 0 </drive>
17	12.05	5.85, 4.850.00 cells/s · 31 cells to go	0.25 s · throttle 0 · steer +0.2 0.4 s · throttle 0.6 · steer 0 1 wall hit	Reply Looking at the maze, I'm in cell (5,4), heading ~83° (facing down). The dock is in (5,5), directly below me. This cell opens up and down, and the previous attempts kept nudging me sideways (wall hits). The clean move is to face straight down and drive into the dock. <drive> 0.25 steer 0.2 0.4 throttle 0.6 </drive>
18	12.70	5.85, 4.850.00 cells/s · 31 cells to go	0.15 s · throttle 0.6 · steer +0.2 0.4 s · throttle 0.9 · steer 0 0.4 s · throttle 0.15 · steer 0 3 wall hits	Reply n down), and row 5 cell (5,5) is open up ("u"). So a straight path down from here into the dock cell is clear. - The dock is almost directly south of me (Δ = -0.35 x, +0.65 y) → straight down is heading 90°. I'm currently at ~88°, so a tiny right nudge plus a straight drive will land me right on the dock centre. - With full throttle from rest, after ~0.55 s I cover ~0.45 cells (up to y ≈ 5.30) and am still above the dock (5.5); then I cut speed for a gentle final approach into the 0.29-radius dock. <drive> 0.15 throttle 0.6 steer 0.2 0.4 throttle 0.9 steer 0 0.4 throttle 0.15 steer 0 </drive>
19	13.65	5.85, 4.850.00 cells/s · 31 cells to go	0.2 s · throttle 0.3 · steer +0.35 0.25 s · throttle 0.5 · steer 0 0.3 s · throttle 0.9 · steer 0 2 wall hits	Reply f (5,5), located at the left part of that boundary (x 4.98–5.02). Right now the robot is at x 5.85, y 4.85, facing ~92° (down) — so pointing straight at the right wall. I need to shift the robot a bit left toward the gap while turning to face straight down, then drive through the gap into the dock. So: ease the throttle (low speed), steer gently right to bring the heading to 90° and nudge the robot leftward into the gap, then point straight down and push forward through the opening into the dock. <drive> 0.2 throttle 0.3 steer 0.35 0.25 throttle 0.5 steer 0 0.3 throttle 0.9 steer 0 </drive>
20	14.40	5.84, 4.850.02 cells/s · 31 cells to go	0.25 s · throttle 0.4 · steer -0.15 0.3 s · throttle 1 · steer 0 0.2 s · throttle 0.5 · steer 0 2 wall hits	Reply I'm in cell (5,4), just above the dock in (5,5). - The dock is directly below me (centre 5.50, 5.50); I'm at (5.84, 4.85), so it's slightly left and down. - Cell (5,4) opens down; cell (5,5) opens up — the route is clear. - I've been stalling against the side wall (20 hits) — I need to steer a touch left to centre toward the dock. - Target direction is about 95°, I'm at 99°, speed is ~0.02. Plan: nudge the wheel slightly left to aim at the dock, then throttle through the gap and onto the dock. <drive> 0.25 throttle 0.4 steer -0.15 0.3 throttle 1 steer 0 0.2 throttle 0.5 steer 0 </drive>
21	15.15	5.83, 4.850.01 cells/s · 31 cells to go	0.25 s · throttle 0 · steer 0 0.4 s · throttle 0.6 · steer -0.1 0.25 s · throttle 0.5 · steer 0 2 wall hits	Reply their right — so the only corridor to the dock runs down column 5. The robot is sitting just above the dock, so a clean short move straight down into the dock finishes the run. The prior attempt wall-hit because the heading drifted to ~99° and the wheel was still deflected, angling the robot into the right/bottom walls. So: first neutralise the wheel, steer back to exactly 90°, then drive straight down at moderate throttle to reach the dock centre (5.5, 5.5) without overshooting into the far wall. <drive> 0.25 throttle 0 steer 0 0.4 throttle 0.6 steer -0.1 0.25 throttle 0.5 steer 0 </drive>
22	16.05	5.83, 4.850.00 cells/s · 31 cells to go	0.15 s · throttle 0 · steer +1 0.15 s · throttle 0 · steer +1 0.2 s · throttle 1 · steer 0 0.15 s · throttle 1 · steer 0 0.2 s · throttle 0 · steer -1 0.15 s · throttle 0.6 · steer -1 2 wall hits1 cut at the one-second limit	Reply ing 95° (pointing down/right), speed 0. - I'm stuck against the right wall of column 5; cell (5,4) is only open up toward (4,4). - The last reply tried to go down and kept hitting the wall (2 hits, barely moved). - The only way out of (5,4) is to head up to cell (4,4). From there I must navigate the open area to the left and eventually down to the dock at (5,5). First move: face up and travel to (4,4), then turn to continue. <drive> 0.15 throttle 0 steer 1 0.15 throttle 0 steer 1 0.2 throttle 1 steer 0 0.15 throttle 1 steer 0 0.2 throttle 0 steer -1 0.2 throttle 0.6 steer -1 </drive>
23	17.05	5.80, 4.850.01 cells/s · 31 cells to go	0.25 s · throttle 0 · steer +0.7 0.1 s · throttle 0 · steer +0.2 0.35 s · throttle 1 · steer 0 0.3 s · throttle 0.6 · steer 0 2 wall hits	Reply cell (5,4) at (5.80, 4.85), essentially stopped, heading 92° (pointing slightly right of straight-down). The cell (5,4) is open only downward toward the dock cell (5,5), which sits directly below me — the dock centre is at (5.5, 5.5). My wheel is hard-locked left (-1.00), so I need to re-centre it and face straight down (90°) before driving into the dock. Plan: briefly kill the wheel toward centre (steer +), re-align heading to ~90°, then throttle straight down into the dock. <drive> 0.25 throttle 0 steer 0.7 0.1 throttle 0 steer 0.2 0.35 throttle 1 steer 0 0.3 throttle 0.6 steer 0 </drive>
24	18.05	5.82, 4.850.02 cells/s · 31 cells to go	0.3 s · throttle 0 · steer +0.3 0.5 s · throttle 1 · steer +0.2 0.2 s · throttle 0.6 · steer 0 2 wall hits	Reply - Cell (5,5) opens UP only (u) — its only entrance is from above. - Cell (5,4) opens down into (5,5) which opens up into the dock area. So the cleanest path is: turn to face down (90°), go straight down through (5,5) toward the dock at (5.5, 5.5). I'm nearly facing down already (80°) and almost stopped. The dock centre is 0.65 cells below me and slightly left. Going down at x≈5.82, I'll need to ease left as I approach. Let me align to ~90° and push down, then trim left to meet the dock radius (0.29). <drive> 0.3 throttle 0 steer 0.3 0.5 throttle 1 steer 0.2 0.2 throttle 0.6 steer 0 </drive>
25	19.05	5.81, 4.850.02 cells/s · 31 cells to go	0.4 s · throttle 1 · steer -1 0.5 s · throttle 1 · steer -0.4 2 wall hits1 moved into range	Reply Looking at the maze, I'm in cell (5,4) and the dock is at (5,5). Cell (5,4) opens to the left and up. I need to go up to row 3, cross left to (3,3) or (4,3), down to (4,4), then into (5,5). The fastest path: go left to (4,4) [since (5,4)→(4,4) is open], but (4,4)→(5,4) won't help me reach dock. Actually I should go UP to (5,3), then left to (4,3)/(3,3), then down to (3,4)/(4,4), then into dock. Let me head up (toward -90 degrees / up) to get out of (5,4) into (5,3). <drive> 0.4 throttle 1 steer -1 0.6 throttle 1 steer -0.4 </drive>
26	19.95	5.85, 4.850.00 cells/s · 31 cells to go	0.1 s · throttle 0 · steer 0 0.4 s · throttle 0 · steer +1 0.5 s · throttle 0.6 · steer +1 2 wall hits	Reply t (5.85, 4.85) in cell (5,4), facing 40°, speed 0, with the wheel still turned left at -0.41. The dock is at (5.5, 5.5) in cell (5,5), directly below me across the open "down" edge. Let me plan: I need to face roughly down (90°). From 40°, that's a +50° right turn (steer +1). At speed 0 the robot pivots at about 117°/s, so ~0.5 s. I'll center the wheel first (the -0.41 bias fights a right turn), then steer right with light throttle to pivot toward the dock, and finally drive straight down into cell (5,5). <drive> 0.1 throttle 0 steer 0 0.4 throttle 0 steer 1 0.5 throttle 0.6 steer 1 </drive>
27	20.95	5.84, 4.850.08 cells/s · 31 cells to go	0.5 s · throttle 0 · steer -1 0.5 s · throttle 0.9 · steer 0 2 wall hits	Reply Looking at the state: I'm in cell (5,4), which is open only upward (toward the dock at (5,5) centre (5.5, 5.5)). My wheel is fully right-locked and my heading is ~130°, so I need to straighten up and face straight down (90°) to drive cleanly into the dock. With no throttle the wheel re-centres as I pivot. <drive> 0.5 throttle 0 steer -1 0.5 throttle 0.9 steer 0 </drive>
28	21.95	5.80, 4.850.07 cells/s · 31 cells to go	0.4 s · throttle 0 · steer -0.8 0.4 s · throttle 1 · steer 0 1 wall hit	Reply I'm in cell (5,4) and need to reach the dock at (5,5) just below me. I'm currently facing 121° (roughly down‑left) and moving very slowly. Let me square up heading straight down and drive onto the dock. <drive> 0.4 throttle 0 steer -0.8 0.4 throttle 1 steer 0 </drive>
29	22.75	5.80, 4.850.00 cells/s · 31 cells to go	0.4 s · throttle 1 · steer 0 0.25 s · throttle 1 · steer 0 2 wall hits	Reply Looking at the situation: I'm in cell (5,4) at (5.80, 4.85), which is in the rightmost column. The dock is at (5.50, 5.50) in cell (5,5) directly below me. This cell is open to the down side, and the dock is within radius 0.29 — I'm about 0.65 cells away, so I just need to drive straight down into it. I'm facing 88 degrees (nearly straight down). I'll drive forward with no steering to slide straight into the dock. <drive> 0.4 throttle 1 steer 0 0.25 throttle 1 steer 0 </drive>
30	23.40	5.81, 4.850.00 cells/s · 31 cells to go	0.3 s · throttle 0.5 · steer 0 1 wall hit	Reply Looking at the maze, I'm at cell (5,4) with the dock directly below me in cell (5,5). I'm already facing 88° (almost perfectly downward). The cell is open to the down side. I just hit the wall 2 times (likely clipped the corner), so I'll go slowly and carefully to center myself and drop into the dock. <drive> 0.3 throttle 0.5 steer 0 </drive>
31	23.70	5.81, 4.850.00 cells/s · 31 cells to go	0.2 s · throttle 0 · steer +0.5 0.4 s · throttle 1 · steer 0 1 wall hit	Reply I'm in cell (5,4), stopped, heading ~right (+x) toward the closed right wall. I need to reach dock (5,5) which is straight below me. I'll turn down, then drive down into the dock. <drive> 0.2 steer 0.5 throttle 0 0.4 throttle 1 steer 0 </drive>
32	24.30	5.80, 4.850.01 cells/s · 31 cells to go	0.15 s · throttle 0 · steer -0.5 0.4 s · throttle 1 · steer 0 1 wall hit	Reply Looking at the layout: I'm in cell (5,4), facing roughly straight down (98°). The only opening is down into cell (5,5) which holds the dock at centre (5.5, 5.5). My centre is at (5.8, 4.85); I need to go to about (5.5, 5.5) — straight down and slightly left. The right and left sides of this cell are closed, so a clean down‑drive through the gap will drop me onto the dock. I'll correct the heading to exactly 90° (slight left steer, no throttle) then drive straight down with throttle until I reach the dock. <drive> 0.15 throttle 0 steer -0.5 0.4 throttle 1 steer 0 </drive>
33	24.85	5.80, 4.850.00 cells/s · 31 cells to go	0.5 s · throttle 0 · steer -0.9	Reply <drive> 0.5 throttle 0 steer -0.9 </drive>
34	25.35	5.80, 4.850.00 cells/s · 31 cells to go	0.45 s · throttle 0 · steer +1	Reply ing 49° (right-down), wheel still at -0.91 from my last steering input. The dock is at (5.50, 5.50) in the cell below-right of me, reachable by going down then left (cell (5,4) opens down, cell (5,5) opens left). Since I'm stopped, I'll pivot in place (no throttle) to line up heading to 90° (straight down). My wheel is currently at -0.91, so I need steer +1 to bring the wheel back toward centre and then lock right. A full steer at speed 0 turns about 117°/s, so ~0.41 s gets me from 49° to 90°. I'll use 0.45 s to be safe and land just past 90°. <drive> 0.45 throttle 0 steer 1 </drive>
35	25.80	5.80, 4.850.00 cells/s · 31 cells to go	0.1 s · throttle 0 · steer -1 0.35 s · throttle 0 · reverse 1 · steer 0	Reply Looking at the situation: I'm stuck at (5.80, 4.85) in cell (5,4), 42 wall hits and barely moving. The dock is at (5.5, 5.5) — only about 0.75 cells below me. The cleanest escape is to back out to the left through the open gap at x=5, then come back and drop straight into the dock. I'll first straighten the wheel to centre (so I can pivot without drifting), then reverse left to escape into the open cell (4,4). <drive> 0.1 throttle 0 steer -1 0.35 throttle 0 reverse 1 </drive>
36	26.25	5.75, 4.760.59 cells/s · 31 cells to go	0.3 s · throttle 0 · steer +1 0.5 s · throttle 1 · steer 0 1 wall hit	Reply Looking at the situation: - Robot at (5.75, 4.76), heading 60° (down-right), speed 0.59 - Dock at (5.5, 5.5) — I need to go down and slightly left - Cell (5,4) is open down to (5,5) where the dock is - The dock centre is 0.75 cells below me I need to turn to face down (90°) and drive straight to the dock. I'm already moving somewhat toward -120° (up-left) but with low speed. Let me turn right to face down and accelerate toward the dock. <drive> 0.3 throttle 0 steer 1 0.5 throttle 1 steer 0 </drive>
37	27.05	5.72, 4.850.00 cells/s · 31 cells to go	0.15 s · throttle 0 · steer +1 0.5 s · throttle 1 · steer 0 1 wall hit	Reply Looking at the situation: the robot is at (5.72, 4.85) in cell (5,4), heading 89° (right), speed 0. Cell (5,4) opens up, left, and down. The dock is at (5.5, 5.5) directly below. My plan: turn to face down (90°) precisely, then drive straight down through the opening into the dock. From the last reply, steer +1 for 0.3s turned 60°→89°, so I need about 0.15s more to reach exactly 90°, then hold straight to the dock. <drive> 0.15 throttle 0 steer 1 0.5 throttle 1 steer 0 </drive>
38	27.70	5.71, 4.850.01 cells/s · 31 cells to go	0.4 s · throttle 0 · steer -1 0.5 s · throttle 1 · steer 0 2 wall hits	Reply I'm in cell (5,4), almost stopped, heading ~98° (pointing down). The dock (5,5) is directly below me. I need to realign to face straight down (90°) and drive into it, while making sure the wheel is centred and I'm not nudged into the right wall. <drive> 0.4 throttle 0 steer -1 0.5 throttle 1 steer 0 </drive>
39	28.60	5.75, 4.850.08 cells/s · 31 cells to go	0.5 s · throttle 1 · steer +0.5 1 wall hit	Reply Looking at the situation: the robot is in cell (5,4) at (5.75, 4.85), heading 57° (roughly down-right), very slow (0.08). The dock is directly below in cell (5,5). This cell is open only to the up, so I need to reach the dock through the down edge. The robot's centre is already close to the dock (5.50, 5.50) — only about 0.74 cells away. I just need to head down (+90°) and move forward. Heading 57° needs to rotate to 90°, so a slight right steer while applying throttle will point me down and start moving. <drive> 0.5 throttle 1 steer 0.5 </drive>
40	29.10	5.77, 4.850.02 cells/s · 31 cells to go	0.5 s · throttle 0 · steer +1 0.3 s · throttle 1 · steer +1 1 wall hit	Reply en to the up — no down, no left, no right. So I'm boxed in on three sides by walls, with a narrow opening upward into the (4,3)/(5,3) corridor. Since I'm stuck in a dead-end pocket and the only exit is upward, I need to go up through the corridor, loop around the maze, and eventually come back down into the dock. My current wheel is at +0.50 (right) and heading 83° (roughly down), so I need to re-orient up. Let me steer hard right to turn my heading up (toward 270°/-90°) and align the wheel so I can push through the opening. <drive> 0.5 throttle 0 steer 1 0.3 throttle 1 steer 1 </drive>
41	29.90	5.70, 4.850.49 cells/s · 31 cells to go	0.5 s · throttle 0 · steer +1 0.5 s · throttle 0.6 · steer 0 2 moved into range	Reply Looking at the situation: I'm in cell (5,4) heading roughly left (176°) but that wall is closed. The dock is straight down through cell (5,5). I need to face down (90°) and drive into the dock. From 176° to 90° is 86°; at low speed that's about 0.74 s of steering, then drive down ~0.6 cells to the dock. <drive> 0.8 throttle 0 steer 1 0.6 throttle 0.6 steer 0 </drive>
42	30.90	5.54, 4.600.88 cells/s · 31 cells to go	0.3 s · throttle 0 · steer +1 0.3 s · throttle 0.6 · steer +1 0.3 s · throttle 0.8 · steer 0	Reply Looking at the state: the robot is in cell (5,4), already directly above the dock cell (5,5), which is open to the up. So I just need to head down (90°) into the dock. Current heading is -116°; turning right (+steer) the short way brings it through 0° (right) to 90° (down) — about 206° of rightward rotation. I'll turn the wheel right without throttle first to pivot quickly, then commit throttle as I align toward down. <drive> 0.3 throttle 0 steer 1 0.3 throttle 0.6 steer 1 0.3 throttle 0.8 steer 0 </drive>
43	31.80	5.75, 4.131.18 cells/s · 31 cells to go	0.25 s · throttle 0.2 · steer +1 0.25 s · throttle 0.5 · steer +1 0.25 s · throttle 0.8 · steer +0.4 0.25 s · throttle 0.6 · steer -0.2 3 wall hits	Reply n passage from here to the dock; I must loop around via (4,4) → (4,5) → (5,5). That's why the route shows 31 cells. My heading -43° is aimed up-right, away from where I need to go (left, toward (4,4)). I must turn to face left (180°)** and drive into (4,4). Turning from -43° toward +180° requires rightward steering (clockwise). I'll use the momentum: full steer right for the turn, then throttle once I'm aligned leftward, stopping just past the wall gap into (4,4). <drive> 0.25 throttle 0.2 steer 1 0.25 throttle 0.5 steer 1 0.25 throttle 0.8 steer 0.4 0.25 throttle 0.6 steer -0.2 </drive>
44	32.80	5.85, 4.020.04 cells/s · 31 cells to go	0.5 s · throttle 0.7 · steer -1 0.3 s · throttle 0.6 · steer +0.3 2 wall hits	Reply <drive> 0.5 throttle 0.7 steer -1 0.3 throttle 0.6 steer 0.3 </drive>
45	33.60	5.85, 3.990.12 cells/s · 30 cells to go	0.2 s · throttle 0.8 · steer +1 0.3 s · throttle 0.8 · steer 0 0.3 s · throttle 0.9 · steer 0 2 wall hits	Reply I'm in cell (5,3), near the top of that column, with the dock at (5,5). I need to face down (90°) and move straight down through (5,4) into the dock. Let me point down and drive. <drive> 0.2 throttle 0.8 steer +1 0.3 throttle 0.8 steer 0 0.3 throttle 0.9 steer 0 </drive>
46	34.40	5.85, 3.940.04 cells/s · 30 cells to go	0.5 s · throttle 0 · steer +1 1 moved into range	Reply 0.04). The dock is at (5.50, 5.50). Cell (5,3) is open up/down, but (5,4) below is only open up (closed down), and (5,5) has only left open. The direct path to dock goes through (5,4) which is a dead end. The route from (5,3) is: left to (4,3) → down to (4,4) → down to (4,5) → right to (5,5). First move is LEFT. I need to face 180° (left). From -21° (which is 339°), the shortest turn is right (clockwise, +steer) through 0° and 90° to 180°. Since I'm nearly stopped, I'll do an in-place turn (no throttle) with full right steer, then verify heading before driving. <drive> 0.65 steer 1 </drive>
47	34.90	5.85, 3.940.00 cells/s · 30 cells to go	0.5 s · throttle 1 · steer +1 2 wall hits	Reply Looking at the maze: I'm in cell (5,3) with open up and down. The dock is at (5,5). Cell (5,4) between me and the dock is open only to the right (wall on left), so I must drop down from (5,3)→(5,4), then right into the open row 5, then left to the dock. I need to face down (+90°) from my current ~24° heading, and I'm already holding right steer (which turns me clockwise toward 90°). Keeping throttle on will carry me into the cell below. <drive> 0.5 throttle 1 steer 1 </drive>
48	35.40	5.85, 4.030.46 cells/s · 31 cells to go	0.25 s · throttle 0 · steer -1 0.35 s · throttle 0 · reverse 1 · steer 0 0.4 s · throttle 1 · steer +0.6 2 wall hits	Reply Looking at the maze, my best route to the dock is: go down to cell (5,5) which opens directly left to the dock at (5.5, 5.5). I'm currently in (5,4) facing right (toward a wall). I'll straighten and reverse into the cell centre, then drive down. <drive> 0.25 throttle 0 steer -1 0.35 reverse 1 steer 0 0.4 throttle 1 steer 0.6 </drive>
49	36.40	5.82, 3.990.51 cells/s · 30 cells to go	0.2 s · throttle 0 · steer +0.7 0.3 s · throttle 1 · steer 0 0.5 s · throttle 0.9 · steer +0.1	Reply I'm in cell (5,3), heading ~125°, need to go down to the dock at (5,5). Let me align to face straight down (90°) with a small right turn, then drop through (5,4) and (5,5). <drive> 0.2 throttle 0 steer 0.7 0.3 throttle 1 steer 0 0.5 throttle 0.9 steer 0.1 </drive>
50	37.40	5.17, 4.391.59 cells/s · 31 cells to go	0.3 s · throttle 0.4 · steer +0.7 0.2 s · throttle 0.7 · steer +0.1 0.4 s · throttle 1 · steer 0 0.1 s · brake · steer 0 3 wall hits1 cut at the one-second limit	Reply s in cell (5,5), whose centre is (5.5, 5.5) — directly below me, and this cell is open toward the south. Best plan: align to point straight down (90°), drive through the open gap to the dock cell, then come to a controlled stop near the dock centre. Heading 154° means I need to turn right toward 90° (passing through 120°), about 64° of right turn. I'll ease off throttle while turning (cleaner wheel movement), then throttle straight down and brake before overshooting the dock. <drive> 0.3 throttle 0.4 steer 0.7 0.2 throttle 0.7 steer 0.1 0.4 throttle 1 steer 0 0.3 throttle 0 brake 1 </drive>
51	38.40	5.15, 4.430.00 cells/s · 31 cells to go	0.4 s · throttle 0.8 · steer +0.8 0.3 s · throttle 1 · steer 0 0.3 s · throttle 1 · steer -0.5 2 wall hits	Reply Looking at the maze, the robot is at (5.15, 4.43) in cell (5,4) which opens only up to cell (5,3). From (5,3) it opens up and left, then I can route through cells (4,3)→(4,4)→(5,5) to the dock. The robot's heading is about -178° (facing left) but I need to face up (-90°) to leave through this cell's only opening, then head down-left to the dock. <drive> 0.4 throttle 0.8 steer 0.8 0.3 throttle 1 steer 0 0.3 throttle 1 steer -0.5 </drive>
52	39.40	5.15, 4.380.05 cells/s · 31 cells to go	0.4 s · throttle 0.6 · steer +0.7 0.4 s · throttle 0.6 · steer +0.2 0.2 s · throttle 0.4 · steer -0.2 3 wall hits1 cut at the one-second limit	Reply -0.5 (left). The shortest path is to turn around and drive straight down through cell (5,4) into (5,5) to hit the dock. I'm essentially facing the wrong way and slightly left of the dock's centerline, so I need a big rightward correction (steer +) to come around to face down, then a small left to straighten onto the dock column. Plan: swing right toward heading +90° (down), then nudge left to align on the dock's vertical line (x ≈ 5.5), then drive forward into the dock. <drive> 0.4 throttle 0.6 steer 0.7 0.4 throttle 0.6 steer 0.2 0.2 throttle 0.4 steer -0.2 0.4 throttle 1 steer 0 </drive>
53	40.40	5.15, 4.290.15 cells/s · 31 cells to go	0.5 s · throttle 0 · steer +1 0.5 s · throttle 0 · steer +1 3 cut at the one-second limit	Reply 5.5, 5.5), which is directly below me (down, +y = heading +90°). - Cell (5,4) is open to the down side → I can go straight down into cell (5,5) where the dock is. - I need to turn from -136° to +90°, i.e. rotate +226° clockwise (about 2.08 s at ~109°/s) before driving down. - Wheel is at -0.20 (left); let it relax to centre so I can turn cleanly right. Plan: pivot in place turning right (steer +1) for ~2.2 s to face down, then drive forward into the dock. <drive> 0.5 throttle 0 steer 1 0.5 throttle 0 steer 1 0.5 throttle 0 steer 1 0.5 throttle 0 steer 1 0.45 throttle 0.5 steer 0 </drive>
54	41.40	5.15, 4.280.00 cells/s · 31 cells to go	0.5 s · throttle 0 · steer 0 0.5 s · throttle 0.5 · steer 0	Reply d right (+1.00) from last turn. The dock is at (5.5, 5.5), which is down and slightly right of me. Cell (5,4) opens only up (left/right are walls), and there's an open gap below the (4,4)-(4,5) wall. The cleanest path is to swing my nose around to point down-and-right toward the dock, then drive forward through the opening in (4,5). I'll ease off steer to let the wheel relax from full right, then add gentle throttle so the forward push plus the wheel's natural re-centre brings the heading to roughly -60°, aimed toward the dock. <drive> 0.5 throttle 0 steer 0 0.5 throttle 0.5 steer 0 </drive>
55	42.40	5.37, 4.150.74 cells/s · 31 cells to go	0.5 s · throttle 0 · steer +1 0.5 s · throttle 0 · steer +1	Reply tion: I'm in cell (5,4), the robot start position, and need to get to the dock at (5,5) which is directly below me. My current heading is -31° (pointing up-right), so I need to turn to face down (+90°) before driving into the dock. Let me turn from -31° to +90°: that's 121° of rightward (clockwise) rotation. At my current slow speed (~0.74 cells/s), full-steer rotation is roughly 117–130°/s, so about 0.9–1.0 s to complete the turn. I'll do it in two segments, then verify heading before committing to a forward drive into the dock. <drive> 0.5 throttle 0 steer 1 0.5 throttle 0 steer 1 </drive>
56	43.40	5.46, 4.110.00 cells/s · 31 cells to go	0.3 s · throttle 0.4 · steer -0.5 0.3 s · throttle 0.35 · steer -0.3 0.25 s · throttle 0.25 · steer -0.2	Reply cell (5,5) at (5.50, 5.50), directly below me through the open gap at the bottom of cell (5,4). - I must not drift off into cell (4,5): that cell's right side is open, so a rightward drift could bounce me against the (4,5)/(5,5) wall and cancel my progress. So I'll steer left (toward x=5, the far corner of (5,5)) and ease in slowly. Plan: a gentle left-corrected, low-throttle crawl straight down the column to the dock centre, staying near the left wall so I can't slip right into (4,5). <drive> 0.3 throttle 0.4 steer -0.5 0.3 throttle 0.35 steer -0.3 0.25 throttle 0.25 steer -0.2 </drive>
57	44.25	5.51, 4.450.37 cells/s · 31 cells to go	0.2 s · throttle 0.7 · steer +0.4 0.4 s · throttle 1 · steer 0 1 wall hit	Reply Looking at the maze, the dock is at (5,5), directly below the robot's current position (5,4). There's a clear opening between these two cells. The robot is currently heading 69° (roughly down-right) but needs to head ~90° (straight down) to travel the ~1.05 cell distance to the dock. The robot needs to turn right (clockwise) about 20°. The wheel is currently at -0.20 (left), so the robot was turning left — I need to switch to a right steer to point more directly downward. <drive> 0.2 throttle 0.7 steer 0.4 0.4 throttle 1 steer 0 </drive>
58	44.85	5.64, 4.850.04 cells/s · 31 cells to go	0.3 s · throttle 1 · steer +0.2 0.3 s · throttle 0.9 · steer +0.1 1 wall hit	Reply Looking at the situation: - Robot at (5.64, 4.85) in cell (5,4), heading 76° (almost straight down) - The dock is at (5.50, 5.50) directly below, only ~0.65 cells away - Cell (5,4) is open to down ("u" = up is open, which means down is also open to cell (5,5)) - Speed is very low at 0.04 The dock is nearly straight ahead (76° vs 90° = 14° off). I need to go down slightly and adjust right. Let me aim straight down and drive to the dock. <drive> 0.3 throttle 1 steer 0.2 0.3 throttle 0.9 steer 0.1 </drive>
59	45.45	5.65, 4.850.01 cells/s · 31 cells to go	0.4 s · throttle 1 · steer -0.1 1 wall hit	Reply I'm at (5.65, 4.85) facing roughly 86° (down), just above the dock cell (5,5). The direct path is a short 0.5 cell straight down into the dock centre — the route counter is just inflated by the maze graph. I'll go straight down, full throttle. <drive> 0.4 throttle 1 steer -0.1 </drive>
60	45.85	5.65, 4.850.01 cells/s · 31 cells to go	0.5 s · throttle 0.7 · steer 0 2 wall hits	Reply <drive> 0.5 throttle 0.7 steer 0 </drive>
61	46.35	5.66, 4.850.01 cells/s · 31 cells to go	0.3 s · throttle 0.5 · steer +1 0.2 s · throttle 0.6 · steer +0.6 0.4 s · throttle 0.8 · steer 0 0.1 s · throttle 0.7 · steer +0.6 1 wall hit1 cut at the one-second limit	Reply (5,4) opens up, right, and left — but down is walled. That's why my forward drive hit the bottom wall twice. - The dock is at (5.5, 5.5) in cell (5,5). This cell connects down into it (row 4 right opens down). - I need to turn to face right (0°), drive to the right-side opening, then down into the dock. To my right (+x) is a wall at x≈6, so I can only push right about 0.24 cells before hitting it. I'll make a tight right turn to face the opening, nudge in, then head down. <drive> 0.3 throttle 0.5 steer 1 0.2 throttle 0.6 steer 0.6 0.4 throttle 0.8 steer 0 0.3 throttle 0.7 steer 0.6 </drive>