Optimize PPO coverage and recharge strategy

agent_ppo/conf/conf.py

@@ -13,11 +13,13 @@ Configuration for Robot Vacuum PPO agent.
 
 class Config:
 
-    # Feature dimensions (157D)
-    # 特征维度（157D）
+    # Feature dimensions: 21x21x6 local map + scalar planning features + last action.
+    # 特征维度：21x21x6 多通道局部地图 + 标量规划特征 + 上一步动作。
+    VIEW_SIZE = 21
+    MAP_CHANNELS = 6
     FEATURES = [
-        11 * 11,  # wider local map view / 更大的局部地图视野
-        28,  # global, charger, NPC, and map-stat features / 全局、充电桩、NPC、地图统计特征
+        VIEW_SIZE * VIEW_SIZE * MAP_CHANNELS,
+        66,  # global memory, charger, NPC, and action-improvement features
         8,  # last action one-hot / 上一步动作 one-hot
     ]
     FEATURE_SPLIT_SHAPE = FEATURES