search challenge: triangle marker on a crate's back face (rendered in vision, in digest), report tool with distance verification, smooth turn(duration), --free/--search autonomous modes, look_at crates; verified with gpt-5.6-luna

testbed/chat.py

@@ -141,16 +141,30 @@ async def chat_loop(client: AICCClient, manifest, args: argparse.Namespace) -> i
     async def mission_runner(goal_text: str) -> None:
         from testbed.llm_agent import run_llm_agent_loop
 
-        controller.messages.append(
-            {
-                "role": "user",
-                "content": (
-                    f"MISSION (set by the user): {goal_text}. "
-                    "Keep calling tools and do not stop until the goal is achieved. "
-                    "Report only when done."
-                ),
-            }
-        )
+        if args.search:
+            from testbed.llm_agent import SEARCH_MISSION
+
+            controller.messages = [
+                {"role": "system", "content": SEARCH_MISSION},
+                {
+                    "role": "user",
+                    "content": (
+                        f"MISSION: {goal_text}. "
+                        "Keep exploring with tools until the triangle is found and reported."
+                    ),
+                },
+            ]
+        else:
+            controller.messages.append(
+                {
+                    "role": "user",
+                    "content": (
+                        f"MISSION (set by the user): {goal_text}. "
+                        "Keep calling tools and do not stop until the goal is achieved. "
+                        "Report only when done."
+                    ),
+                }
+            )
         saver = asyncio.create_task(map_saver())
         try:
             for attempt in range(1, args.mission_retries + 2):
@@ -165,12 +179,27 @@ async def chat_loop(client: AICCClient, manifest, args: argparse.Namespace) -> i
                         nudge_limit=args.mission_nudges,
                         look_every=args.look_every,
                         cruise=args.cruise,
+                        autonomous=args.free or args.search,
+                        is_success=(
+                            (
+                                lambda turn: any(
+                                    c.name == "report"
+                                    and c.ok
+                                    and isinstance(c.output, dict)
+                                    and c.output.get("verified")
+                                    for c in turn.calls
+                                )
+                            )
+                            if args.search
+                            else None
+                        ),
                     )
                 except RuntimeError as exc:
                     print(f"  [mission] LLM error: {exc}")
                     break
                 save_map()
-                if summary["interacted"]:
+                done = summary.get("success") if args.search else summary["interacted"]
+                if done:
                     print(f"\n[mission] DONE: {summary['result']}")
                     return
                 print(
@@ -226,7 +255,12 @@ async def chat_loop(client: AICCClient, manifest, args: argparse.Namespace) -> i
             print("  (no mission running)")
         await cmd_state()
 
-    if args.mission:
+    if args.mission or args.search:
+        if args.search:
+            mission_goal = (
+                "explore the room, find the orange triangle painted on the back "
+                "of one of the crates, and report it"
+            )
         start_mission()
 
     while True:
@@ -428,6 +462,17 @@ def main() -> int:
         action="store_true",
         help="start an autonomous mission on connect: reach and activate the beacon",
     )
+    parser.add_argument(
+        "--search",
+        action="store_true",
+        help="search challenge: explore the room and find the orange triangle "
+        "on the back of a crate, then report it (autonomous mode, fewer guardrails)",
+    )
+    parser.add_argument(
+        "--free",
+        action="store_true",
+        help="fewer restrictions: no re-aim corrections or collision hints; the model plans freely",
+    )
     parser.add_argument(
         "--mission-steps",
         type=int,
@@ -479,7 +524,9 @@ def main() -> int:
             model=args.model,
         )
         if args.provider:
-            print(f"[chat] provider: {args.provider} -> {args.base_url}  model: {args.model}")
+            print(
+                f"[chat] provider: {args.provider} -> {args.base_url}  model: {args.model}"
+            )
     except ValueError as exc:
         print(f"[chat] {exc}")
         return 1