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I've got a real KD-Tree running now for my data. It runs faster than my old setup and should be more precise, but to my disappointment, it hasn't really seemed to improve things much. In fact, I've gotten worse at robots that do things like simple linear targeting. Overall APS is down. On the flip side, my data rolling, flattening, and other top robot fighting tricks are working pretty well, my PL score is the highest it has ever been, and only 3 robots in the entire rumble are scoring over 55 against me last I checked. I've carefully scrutinized, and my top robot tricks are not kicking in against easier robots and messing things up on them...something else is amiss...I just can't figure out what.