Doc build fix - #35
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The changelog still listed both patrol variants as holding formation to roughly 139 m against a 60 m tolerance, pinned by six strict xfails. That was true before the lead's turn rate was fed forward. The hardest case now settles at 2.4 m against a 3 m reward precision floor, both variants settle around 40 m at the benchmark settings, and the strict xfail is gone. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012WdRJEyGAZwKDD1EFwwH3U
The docs-deploy render died on the runner with SIGTERM partway through the nineteenth environment. The timings say why: 9 s per environment for the aircraft, then 16, 19, 22, 24, 27, 29, 36, and 92 s for the cement kiln, with hvac alone taking three and a half minutes. That climb is memory, not rendering. It is not a matplotlib leak; render_kit.finish closes every figure. It is JAX: each environment compiles its own step_env and XLA keeps those executables and their device buffers alive for the life of the process, so twenty-one environments accumulate twenty-one compilation caches. A fresh process per environment releases all of it. Measured locally, peak resident memory stays flat at 1.5-2.4 GB and per-environment time stays at 8-18 s with no climb, against a single process that reached 92 s and was killed. The total comes in lower despite paying JAX start-up twenty-one times. Each environment is wrapped in a ::group:: so the deploy log stays readable. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_012WdRJEyGAZwKDD1EFwwH3U
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