Son of a gun, this is why I love HN. Thank you! And it turns out the results are shockingly good, far better than I expected. They have demo videos at:
Gladly! And yeah, the results really are quite good. This is why I like optimization problems - if you can formally capture what you want as an objective, and if you can find a way to optimize it, you can get surprisingly good results. Of course these are two very big IFs...