diff --git a/CLAUDE.md b/CLAUDE.md
index 5d47ee2b..f03ab6b6 100644
--- a/CLAUDE.md
+++ b/CLAUDE.md
@@ -40,7 +40,7 @@ The structure was deliberately chosen so an RL-trained AI opponent and, later, m
 
 - **Scene flow**: `scenes/main_menu.tscn` (`main_menu.gd`, one handler per mode) → `scenes/free_play.tscn` (practice: no timer, R resets ball) or `scenes/match.tscn` (150s timer, per-team score, kickoff resets). Esc returns to the menu from either mode.
 - **Controller seam (do not bypass)**: `Ship` (`scripts/ship.gd`, `RigidBody3D`) never reads `Input`. Each physics tick, `_integrate_forces` pulls one `ShipAction` (`scripts/ship_action.gd`: thrust `Vector3`, rotation `Vector3`, turbo `bool`, each axis -1..1) from its `ShipController` child (`scripts/ship_controller.gd`, base returns a zero action). `PlayerShipController` reads input actions; a future `AIShipController` (RL policy) or network-replication controller implements the same `get_action()` interface. A ship with no controller is inert but simulated. The ShipAction shape *is* the future RL action space — change it deliberately.
-- **Arena vs game mode**: `scenes/arena_01.tscn` (`scripts/arena.gd`, group `"arena"`) is a stateless stadium — terrain, lighting, two `Goal` instances (team 0 and 1), `BallSpawn` and `SpawnsTeam0/1` Marker3Ds — queried via `get_ball_spawn()`/`get_ship_spawns(team)`/`get_goals()`. Game modes extend `GameMode` (`scripts/game_mode.gd`, group `"game"`): the mode's scene contains an Arena + HUD, and the mode spawns ball/ships/controllers/camera **in code** (`spawn_ship(team, index, controller)` etc.) so ship counts and controller mixes stay flexible. `free_play.gd` and `match_mode.gd` override `_start()` and `_on_goal_scored(conceding_team)`.
+- **Arena vs game mode**: `scenes/arena_01.tscn` (`scripts/arena.gd`, group `"arena"`) is a stateless stadium — a setting (space-platform floor, starfield sky, lighting), an enclosing `Boundary` (instance of `objects/arena_boundary.tscn`: floor/walls/ceiling colliders), two `Goal` instances (team 0 and 1), `BallSpawn` and `SpawnsTeam0/1` Marker3Ds — queried via `get_ball_spawn()`/`get_ship_spawns(team)`/`get_goals()`. All arenas are a standard size: they instance the shared `arena_boundary.tscn`, and `scripts/arena_boundary.gd` (`ArenaBoundary`) holds the canonical play-volume constants (inner x ±12, z ±18, height 12, goal lines z ±17) that field-size logic must derive from instead of restating numbers. Game modes extend `GameMode` (`scripts/game_mode.gd`, group `"game"`): the mode's scene contains an Arena + HUD, and the mode spawns ball/ships/controllers/camera **in code** (`spawn_ship(team, index, controller)` etc.) so ship counts and controller mixes stay flexible. `free_play.gd` and `match_mode.gd` override `_start()` and `_on_goal_scored(conceding_team)`.
 - **Goals are dumb sensors**: `scripts/goal.gd` (`Area3D`, group `"goal"`, `@export team`) only emits `goal_scored(team)` when a body in group `"ball"` enters; `GameMode` debounces it (`_handle_goal_scored`) and modes decide consequences. Never put scoring/reset logic in the goal.
 - **Ship physics**: all movement is force/torque-based (`_integrate_forces`), not kinematic — inputs become world-space forces/torques relative to ship orientation, with manual drag and speed clamps per tick. Physics formulas are commented inline; see `FLIGHT_MANUAL.md` for the player-facing flight model. Physics properties (mass, inertia, friction material) live in `objects/ship.tscn`, not in `_ready` overrides — keep the scene truthful; RL tuning depends on it.
 - **Camera** (`scenes/ship_camera_rig.tscn`, `scripts/ship_camera.gd`, group `"ship_camera"`) is spawned by the game mode and given a `target` ship — ships have no camera/HUD dependency, so headless RL runs work (`godot --headless`).
diff --git a/Game/assets/models/Grass.jpg b/Game/assets/models/Grass.jpg
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diff --git a/Game/assets/models/Grass.jpg.import b/Game/assets/models/Grass.jpg.import
deleted file mode 100644
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diff --git a/Game/assets/models/Terrain.mtl b/Game/assets/models/Terrain.mtl
deleted file mode 100644
index e88ca9d8..00000000
--- a/Game/assets/models/Terrain.mtl
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diff --git a/Game/assets/models/Terrain.obj b/Game/assets/models/Terrain.obj
deleted file mode 100644
index 55954a9a..00000000
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-g Grid_Grid_Grass
-usemtl Grass
-s 1
-f 4/1/1 44/2/2 3/3/3
-f 5/4/4 44/2/2 4/1/1
-f 7/5/5 45/6/6 6/7/7
-f 15/8/8 64/9/9 47/10/10
-f 45/6/6 7/5/5 8/11/11 63/12/12
-f 16/13/13 64/9/9 15/8/8
-f 17/14/14 48/15/15 16/13/13
-f 20/16/16 50/17/17 19/18/18
-f 21/19/19 52/20/20 51/21/21
-f 23/22/22 53/23/23 22/24/24
-f 28/25/25 55/26/26 54/27/27
-f 29/28/28 56/29/29 55/26/26
-f 30/30/30 70/31/31 58/32/32
-f 30/30/30 31/33/33 70/31/31
-f 36/34/34 71/35/35 87/36/36
-f 37/37/37 59/38/38 71/35/35
-f 40/39/39 89/40/40 60/41/41
-f 42/42/42 43/43/43 130/44/44
-f 44/2/2 62/45/45 2/46/46
-f 45/6/6 73/47/47 5/4/4
-f 10/48/48 11/49/49 75/50/50
-f 48/15/15 49/51/51 64/9/9
-f 53/23/23 66/52/52 65/53/53
-f 23/22/22 66/52/52 53/23/23
-f 24/54/54 67/55/55 23/22/22
-f 25/56/56 67/55/55 24/54/54
-f 26/57/57 68/58/58 67/55/55
-f 32/59/59 86/60/60 31/33/33
-f 34/61/61 98/62/62 33/63/63
-f 63/12/12 74/64/64 45/6/6
-f 9/65/65 75/50/50 102/66/66
-f 11/49/49 46/67/67 75/50/50
-f 64/9/9 106/68/68 46/67/67
-f 51/21/21 80/69/69 50/17/17
-f 65/53/53 82/70/70 81/71/71
-f 65/53/53 66/52/52 82/70/70
-f 67/55/55 84/72/72 83/73/73
-f 55/26/26 95/74/74 114/75/75
-f 55/26/26 69/76/76 95/74/74
-f 70/31/31 86/60/60 85/77/77
-f 98/62/62 97/78/78 32/59/59
-f 60/41/41 119/79/79 88/80/80
-f 60/41/41 89/40/40 119/79/79
-f 73/47/47 100/81/81 62/45/45
-f 74/64/64 132/82/82 45/6/6
-f 9/65/65 102/66/66 63/12/12
-f 75/50/50 90/83/83 102/66/66
-f 106/68/68 105/84/84 46/67/67
-f 78/85/85 108/86/86 77/87/87
-f 65/53/53 92/88/88 91/89/89
-f 81/71/71 92/88/88 65/53/53
-f 66/52/52 83/73/73 93/90/90
-f 68/58/58 114/75/75 94/91/91
-f 69/76/76 126/92/92 95/74/74
-f 69/76/76 85/77/77 126/92/92
-f 35/93/93 145/94/94 129/95/95
-f 87/36/36 116/96/96 145/94/94
-f 71/35/35 88/80/80 117/97/97
-f 61/98/98 99/99/99 89/40/40
-f 73/47/47 101/100/100 100/81/81
-f 102/66/66 121/101/101 63/12/12
-f 102/66/66 90/83/83 103/102/102
-f 76/103/103 107/104/104 106/68/68
-f 79/105/105 109/106/106 78/85/85
-f 91/89/89 110/107/107 80/69/69
-f 92/88/88 110/107/107 91/89/89
-f 82/70/70 112/108/108 81/71/71
-f 82/70/70 93/90/90 139/109/109
-f 95/74/74 126/92/92 114/75/75
-f 85/77/77 143/110/110 126/92/92
-f 85/77/77 96/111/111 143/110/110
-f 115/112/112 127/113/113 97/78/78
-f 88/80/80 118/114/114 117/97/97
-f 89/40/40 99/99/99 119/79/79
-f 72/115/115 165/116/116 61/98/98
-f 100/81/81 151/117/117 149/118/118
-f 101/100/100 120/119/119 100/81/81
-f 90/83/83 104/120/120 122/121/121
-f 106/68/68 134/122/122 105/84/84
-f 107/104/104 134/122/122 106/68/68
-f 109/106/106 136/123/123 108/86/86
-f 110/107/107 137/124/124 109/106/106
-f 92/88/88 111/125/125 110/107/107
-f 139/109/109 157/126/126 82/70/70
-f 93/90/90 140/127/127 139/109/109
-f 113/128/128 124/129/129 123/130/130
-f 125/131/131 141/132/132 124/129/129
-f 115/112/112 144/133/133 127/113/113
-f 98/62/62 129/95/95 128/134/134
-f 119/79/79 99/99/99 147/135/135
-f 43/43/43 166/136/136 131/137/137
-f 149/118/118 166/136/136 43/43/43
-f 132/82/82 152/138/138 101/100/100
-f 103/102/102 122/121/121 121/101/101
-f 137/124/124 155/139/139 136/123/123
-f 111/125/125 138/140/140 137/124/124
-f 123/130/130 158/141/141 140/127/127
-f 124/129/129 141/132/132 158/141/141
-f 125/131/131 159/142/142 141/132/132
-f 126/92/92 160/143/143 142/144/144
-f 96/111/111 161/145/145 143/110/110
-f 127/113/113 161/145/145 96/111/111
-f 118/114/114 147/135/135 146/146/146
-f 151/117/117 150/147/147 149/118/118
-f 120/119/119 168/148/148 151/117/117
-f 136/123/123 174/149/149 135/150/150
-f 137/124/124 156/151/151 155/139/139
-f 138/140/140 156/151/151 137/124/124
-f 112/108/108 177/152/152 138/140/140
-f 139/109/109 180/153/153 179/154/154
-f 140/127/127 181/155/155 180/153/153
-f 141/132/132 183/156/156 158/141/141
-f 142/144/144 184/157/157 159/142/142
-f 142/144/144 160/143/143 184/157/157
-f 144/133/133 161/145/145 127/113/113
-f 117/97/97 146/146/146 116/96/96
-f 131/137/137 166/136/136 240/158/158
-f 149/118/118 167/159/159 166/136/136
-f 149/118/118 150/147/147 167/159/159
-f 74/64/64 169/160/160 132/82/82
-f 153/161/161 169/160/160 74/64/64
-f 133/162/162 154/163/163 170/164/164
-f 155/139/139 190/165/165 174/149/149
-f 156/151/151 175/166/166 155/139/139
-f 157/126/126 193/167/167 177/152/152
-f 158/141/141 182/168/168 181/155/155
-f 159/142/142 198/169/169 197/170/170
-f 160/143/143 185/171/171 184/157/157
-f 203/172/172 219/173/173 128/134/134
-f 129/95/95 145/94/94 203/172/172
-f 240/158/158 239/174/174 131/137/137
-f 166/136/136 167/159/159 240/158/158
-f 150/147/147 168/148/148 204/175/175
-f 174/149/149 207/176/176 173/177/177
-f 175/166/166 208/178/178 190/165/165
-f 176/179/179 191/180/180 175/166/166
-f 177/152/152 192/181/181 176/179/179
-f 180/153/153 195/182/182 194/183/183
-f 181/155/155 182/168/168 195/182/182
-f 184/157/157 185/171/171 198/169/169
-f 160/143/143 200/184/184 199/185/185
-f 145/94/94 220/186/186 203/172/172
-f 145/94/94 116/96/96 220/186/186
-f 165/116/116 148/187/187 187/188/188
-f 167/159/159 204/175/175 240/158/158
-f 152/138/138 222/189/189 120/119/119
-f 132/82/82 222/189/189 152/138/138
-f 169/160/160 222/189/189 132/82/82
-f 133/162/162 170/164/164 205/190/190
-f 188/191/191 285/192/192 225/193/193
-f 189/194/194 206/195/195 171/196/196
-f 190/165/165 228/197/197 207/176/176
-f 192/181/181 210/198/198 191/180/180
-f 193/167/167 211/199/199 192/181/181
-f 178/200/200 212/201/201 193/167/167
-f 194/183/183 214/202/202 213/203/203
-f 182/168/168 196/204/204 215/205/205
-f 185/171/171 199/185/185 218/206/206
-f 201/207/207 236/208/208 161/145/145
-f 116/96/96 186/209/209 220/186/186
-f 163/210/210 237/211/211 162/212/212
-f 240/158/158 221/213/213 239/174/174
-f 122/121/121 205/190/190 223/214/214
-f 188/191/191 265/215/215 285/192/192
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diff --git a/Game/assets/models/Terrain.obj.import b/Game/assets/models/Terrain.obj.import
deleted file mode 100644
index b4f55b37..00000000
--- a/Game/assets/models/Terrain.obj.import
+++ /dev/null
@@ -1,25 +0,0 @@
-[remap]
-
-importer="wavefront_obj"
-importer_version=1
-type="Mesh"
-uid="uid://cndcxj6gf0smr"
-path="res://.godot/imported/Terrain.obj-180d9e542e76d4bc65ef6f60023d2068.mesh"
-
-[deps]
-
-files=["res://.godot/imported/Terrain.obj-180d9e542e76d4bc65ef6f60023d2068.mesh"]
-
-source_file="res://assets/models/Terrain.obj"
-dest_files=["res://.godot/imported/Terrain.obj-180d9e542e76d4bc65ef6f60023d2068.mesh", "res://.godot/imported/Terrain.obj-180d9e542e76d4bc65ef6f60023d2068.mesh"]
-
-[params]
-
-generate_tangents=true
-generate_lods=true
-generate_shadow_mesh=true
-generate_lightmap_uv2=false
-generate_lightmap_uv2_texel_size=0.2
-scale_mesh=Vector3(1, 1, 1)
-offset_mesh=Vector3(0, 0, 0)
-force_disable_mesh_compression=false
diff --git a/Game/assets/models/TerrainMaterial.tres b/Game/assets/models/TerrainMaterial.tres
deleted file mode 100644
index e20ff37a..00000000
--- a/Game/assets/models/TerrainMaterial.tres
+++ /dev/null
@@ -1,6 +0,0 @@
-[gd_resource type="StandardMaterial3D" load_steps=2 format=3 uid="uid://drm3clvqpis42"]
-
-[ext_resource type="Texture2D" uid="uid://cqubdkwj11v1i" path="res://assets/models/Grass.jpg" id="1_imo8j"]
-
-[resource]
-albedo_texture = ExtResource("1_imo8j")
diff --git a/Game/objects/arena_boundary.tscn b/Game/objects/arena_boundary.tscn
new file mode 100644
index 00000000..5248954f
--- /dev/null
+++ b/Game/objects/arena_boundary.tscn
@@ -0,0 +1,94 @@
+[gd_scene load_steps=11 format=3]
+
+[ext_resource type="Script" path="res://scripts/arena_boundary.gd" id="1_bndry"]
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_floor"]
+albedo_color = Color(0.08, 0.09, 0.12, 1)
+metallic = 0.3
+roughness = 0.6
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_field"]
+transparency = 1
+shading_mode = 0
+albedo_color = Color(0, 0.368627, 1, 0.08)
+
+[sub_resource type="BoxMesh" id="BoxMesh_floor"]
+material = SubResource("StandardMaterial3D_floor")
+size = Vector3(28, 1, 40)
+
+[sub_resource type="BoxMesh" id="BoxMesh_ceiling"]
+material = SubResource("StandardMaterial3D_field")
+size = Vector3(28, 1, 40)
+
+[sub_resource type="BoxMesh" id="BoxMesh_side_wall"]
+material = SubResource("StandardMaterial3D_field")
+size = Vector3(1, 13, 38)
+
+[sub_resource type="BoxMesh" id="BoxMesh_end_wall"]
+material = SubResource("StandardMaterial3D_field")
+size = Vector3(26, 13, 1)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_slab"]
+size = Vector3(28, 1, 40)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_side_wall"]
+size = Vector3(1, 13, 38)
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_end_wall"]
+size = Vector3(26, 13, 1)
+
+[node name="ArenaBoundary" type="StaticBody3D"]
+script = ExtResource("1_bndry")
+
+[node name="FloorShape" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.5, 0)
+shape = SubResource("BoxShape3D_slab")
+
+[node name="FloorMesh" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -0.5, 0)
+mesh = SubResource("BoxMesh_floor")
+
+[node name="WallPosXShape" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12.5, 5.5, 0)
+shape = SubResource("BoxShape3D_side_wall")
+
+[node name="WallPosXMesh" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 12.5, 5.5, 0)
+cast_shadow = 0
+mesh = SubResource("BoxMesh_side_wall")
+
+[node name="WallNegXShape" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12.5, 5.5, 0)
+shape = SubResource("BoxShape3D_side_wall")
+
+[node name="WallNegXMesh" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, -12.5, 5.5, 0)
+cast_shadow = 0
+mesh = SubResource("BoxMesh_side_wall")
+
+[node name="WallPosZShape" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 5.5, 18.5)
+shape = SubResource("BoxShape3D_end_wall")
+
+[node name="WallPosZMesh" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 5.5, 18.5)
+cast_shadow = 0
+mesh = SubResource("BoxMesh_end_wall")
+
+[node name="WallNegZShape" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 5.5, -18.5)
+shape = SubResource("BoxShape3D_end_wall")
+
+[node name="WallNegZMesh" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 5.5, -18.5)
+cast_shadow = 0
+mesh = SubResource("BoxMesh_end_wall")
+
+[node name="CeilingShape" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 12.5, 0)
+shape = SubResource("BoxShape3D_slab")
+
+[node name="CeilingMesh" type="MeshInstance3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 12.5, 0)
+cast_shadow = 0
+mesh = SubResource("BoxMesh_ceiling")
diff --git a/Game/objects/ball.tscn b/Game/objects/ball.tscn
index 5fdb9429..f10bfd1c 100644
--- a/Game/objects/ball.tscn
+++ b/Game/objects/ball.tscn
@@ -11,6 +11,7 @@ friction = 0.3
 [node name="Ball" type="RigidBody3D" groups=["ball"]]
 mass = 3
 physics_material_override = SubResource("PhysicsMaterial_ball")
+continuous_cd = true
 inertia = Vector3(3, 3, 3)
 gravity_scale = 0.8
 linear_damp = 0.1
diff --git a/Game/scenes/arena_01.tscn b/Game/scenes/arena_01.tscn
index a41c2902..fb1af2e2 100644
--- a/Game/scenes/arena_01.tscn
+++ b/Game/scenes/arena_01.tscn
@@ -1,46 +1,59 @@
-[gd_scene load_steps=9 format=3]
+[gd_scene load_steps=8 format=3]
 
 [ext_resource type="Script" path="res://scripts/arena.gd" id="1_iywne"]
-[ext_resource type="Material" uid="uid://drm3clvqpis42" path="res://assets/models/TerrainMaterial.tres" id="1_lnu2h"]
-[ext_resource type="ArrayMesh" uid="uid://cndcxj6gf0smr" path="res://assets/models/Terrain.obj" id="2_lbhrr"]
+[ext_resource type="PackedScene" path="res://objects/arena_boundary.tscn" id="2_bndry"]
 [ext_resource type="PackedScene" uid="uid://cofdcxo5170rs" path="res://objects/goal.tscn" id="6_p57ef"]
 
-[sub_resource type="ConcavePolygonShape3D" id="ConcavePolygonShape3D_kldst"]
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-16.072, 50.4584, 4.63, -12.7904, 48.6034, 6.1133, -14.0037, 48.6034, 6.1133, -14.0037, 50.2621, 5.3415, -19.8521, 51.073, 4.6103, -16.072, 50.2621, 5.3415, -19.8521, 48.6034, 6.1133, -14.0037, 47.7286, 6.5008, -15.9789, 51.073, 4.6103, -16.072, 50.2621, 5.3415, -19.8521, 51.4274, 4.64, -18.2918, 51.6557, 4.7397, -20.0983, 51.4274, 4.64, -18.2918, 50.2621, 5.3415, -19.8521, 51.7866, 4.8584, -22.1966, 51.6557, 4.7397, -20.0983, 50.2621, 5.3415, -19.8521, 51.8649, 4.9605, -25.2383, 51.7866, 4.8584, -22.1966, 50.2621, 5.3415, -19.8521, 48.3544, 6.0894, -22.0451, 50.2621, 5.3415, -19.8521, 47.7286, 6.5008, -15.9789, 51.8649, 4.9605, -25.2383, 50.2621, 5.3415, -19.8521, 48.3544, 6.0894, -22.0451, 47.7286, 6.5008, -15.9789, 45.7107, 6.9226, -23.0264, 48.3544, 6.0894, -22.0451, 46.4993, 6.7074, -24.8881, 48.3544, 6.0894, -22.0451, 45.7107, 6.9226, -23.0264, 46.4993, 6.7074, -24.8881, 51.8649, 4.9605, -25.2383, 48.3544, 6.0894, -22.0451, 40.7826, 8.65, -28.6651, 46.4993, 6.7074, -24.8881, 45.7107, 6.9226, -23.0264, 49.5948, 5.8379, -27.668, 51.8649, 4.9605, -25.2383, 46.4993, 6.7074, -24.8881, 52.0005, 4.9938, -28.572, 51.8649, 4.9605, -25.2383, 49.5948, 5.8379, -27.668, 49.5948, 5.8379, -27.668, 46.4993, 6.7074, -24.8881, 47.2305, 6.6135, -27.2183, 47.3135, 6.9256, -30.2727, 52.0005, 4.9938, -28.572, 49.5948, 5.8379, -27.668, 47.3135, 6.9256, -30.2727, 49.5948, 5.8379, -27.668, 47.2305, 6.6135, -27.2183, 44.8566, 7.4309, -27.8857, 47.2305, 6.6135, -27.2183, 46.4993, 6.7074, -24.8881, 44.8566, 7.4309, -27.8857, 46.4993, 6.7074, -24.8881, 40.7826, 8.65, -28.6651, 47.3135, 6.9256, -30.2727, 47.2305, 6.6135, -27.2183, 44.8566, 7.4309, -27.8857, 45.3387, 7.5708, -30.3642, 44.8566, 7.4309, -27.8857, 40.7826, 8.65, -28.6651, 45.3387, 7.5708, -30.3642, 47.3135, 6.9256, -30.2727, 44.8566, 7.4309, -27.8857, 45.3387, 7.5708, -30.3642, 40.7826, 8.65, -28.6651, 42.7653, 8.2098, -32.2085, 49.0807, 6.2373, -30.6514, 52.0005, 4.9938, -28.572, 47.3135, 6.9256, -30.2727, 52.09, 4.9904, -29.6432, 52.0005, 4.9938, -28.572, 49.0807, 6.2373, -30.6514, 47.3135, 6.9256, -30.2727, 45.3387, 7.5708, -30.3642, 46.6638, 7.4173, -32.2874, 46.6638, 7.4173, -32.2874, 45.3387, 7.5708, -30.3642, 42.7653, 8.2098, -32.2085, 49.0807, 6.2373, -30.6514, 47.3135, 6.9256, -30.2727, 49.1637, 6.5046, -32.4941, 49.1637, 6.5046, -32.4941, 47.3135, 6.9256, -30.2727, 46.6638, 7.4173, -32.2874, 51.2359, 5.3261, -31.9435, 52.09, 4.9904, -29.6432, 49.0807, 6.2373, -30.6514, 49.1637, 6.5046, -32.4941, 51.2359, 5.3261, -31.9435, 49.0807, 6.2373, -30.6514, 51.2359, 5.3261, -31.9435, 52.2256, 4.9082, -31.2241, 52.09, 4.9904, -29.6432, 52.2911, 4.8177, -32.9816, 52.2256, 4.9082, -31.2241, 51.2359, 5.3261, -31.9435, 49.1637, 6.5046, -32.4941, 52.2911, 4.8177, -32.9816, 51.2359, 5.3261, -31.9435, 52.2783, 4.7823, -35.4854, 52.2911, 4.8177, -32.9816, 49.1637, 6.5046, -32.4941, 42.7653, 8.2098, -32.2085, 47.3231, 7.1988, -33.204, 46.6638, 7.4173, -32.2874, 49.1637, 6.5046, -32.4941, 46.6638, 7.4173, -32.2874, 47.3231, 7.1988, -33.204, 44.4176, 7.6515, -34.3936, 47.3231, 7.1988, -33.204, 42.7653, 8.2098, -32.2085, 52.2783, 4.7823, -35.4854, 49.1637, 6.5046, -32.4941, 50.0928, 5.9339, -34.5466, 49.1637, 6.5046, -32.4941, 47.3231, 7.1988, -33.204, 50.0928, 5.9339, -34.5466, 49.9891, 5.5893, -37.0867, 52.2783, 4.7823, -35.4854, 50.0928, 5.9339, -34.5466, 48.5842, 6.2522, -35.8119, 47.3231, 7.1988, -33.204, 44.4176, 7.6515, -34.3936, 49.9891, 5.5893, -37.0867, 48.5842, 6.2522, -35.8119, 44.4176, 7.6515, -34.3936, 50.0928, 5.9339, -34.5466, 47.3231, 7.1988, -33.204, 48.5842, 6.2522, -35.8119, 49.9891, 5.5893, -37.0867, 50.0928, 5.9339, -34.5466, 48.5842, 6.2522, -35.8119, 31.1435, 0.8509, 18.5028, 29.8919, 1.0216, 22.1662, 29.6221, 0.4976, 19.5204, 31.1435, 0.8509, 18.5028, 29.6221, 0.4976, 19.5204, 29.7993, 0.1053, 15.6772, 29.6221, 0.4976, 19.5204, 26.4868, 0.136, 21.6519, 29.7993, 0.1053, 15.6772, 25.9217, 0.3768, 26.3692, 29.6221, 0.4976, 19.5204, 29.8919, 1.0216, 22.1662, 26.4868, 0.136, 21.6519, 29.6221, 0.4976, 19.5204, 25.9217, 0.3768, 26.3692, 26.8891, 0.8283, 27.2984, 25.9217, 0.3768, 26.3692, 29.8919, 1.0216, 22.1662, 24.4322, 0.1733, 27.0823, 26.4868, 0.136, 21.6519, 25.9217, 0.3768, 26.3692, 26.8891, 0.8283, 27.2984, 24.4322, 0.1733, 27.0823, 25.9217, 0.3768, 26.3692, -40.8113, 7.7223, -41.0025, -40.7283, 8.3016, -38.4025, -43.3655, 7.1925, -41.7014, -39.673, 8.4004, -38.2053, -40.7283, 8.3016, -38.4025, -40.8113, 7.7223, -41.0025, -40.8113, 7.7223, -41.0025, -43.3655, 7.1925, -41.7014, -41.6238, 6.8255, -43.7319, -38.4214, 7.7435, -41.2313, -39.673, 8.4004, -38.2053, -40.8113, 7.7223, -41.0025, -38.4214, 7.7435, -41.2313, -40.8113, 7.7223, -41.0025, -41.6238, 6.8255, -43.7319, -36.8745, 8.1126, -39.3239, -39.673, 8.4004, -38.2053, -38.4214, 7.7435, -41.2313, -38.4214, 7.7435, -41.2313, -41.6238, 6.8255, -43.7319, -38.4438, 6.7638, -43.9291, -36.8745, 8.1126, -39.3239, -38.4214, 7.7435, -41.2313, -36.9607, 7.5245, -41.6241, -36.9607, 7.5245, -41.6241, -38.4214, 7.7435, -41.2313, -38.4438, 6.7638, -43.9291)
+[sub_resource type="Shader" id="Shader_stars"]
+code = "shader_type sky;
 
-[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_iukft"]
+// Procedural starfield: sparse hash-based stars over near-black space, with a
+// faint blue nebula glow toward the horizon.
+void sky() {
+	vec3 dir = EYEDIR;
+	vec3 col = vec3(0.01, 0.012, 0.02);
+	col += vec3(0.02, 0.03, 0.08) * pow(1.0 - abs(dir.y), 3.0);
+	vec3 cell = floor(dir * 300.0);
+	float h = fract(sin(dot(cell, vec3(12.9898, 78.233, 45.164))) * 43758.5453);
+	if (h > 0.998) {
+		vec3 in_cell = fract(dir * 300.0) - 0.5;
+		float star = smoothstep(0.4, 0.0, length(in_cell));
+		col += vec3(star * (0.5 + fract(h * 999.0)));
+	}
+	COLOR = col;
+}
+"
 
-[sub_resource type="Sky" id="Sky_gl6un"]
-sky_material = SubResource("ProceduralSkyMaterial_iukft")
+[sub_resource type="ShaderMaterial" id="ShaderMaterial_stars"]
+shader = SubResource("Shader_stars")
 
-[sub_resource type="Environment" id="Environment_j5yw3"]
+[sub_resource type="Sky" id="Sky_space"]
+sky_material = SubResource("ShaderMaterial_stars")
+
+[sub_resource type="Environment" id="Environment_space"]
 background_mode = 2
-sky = SubResource("Sky_gl6un")
+sky = SubResource("Sky_space")
+ambient_light_source = 2
+ambient_light_color = Color(0.55, 0.6, 0.75, 1)
+ambient_light_energy = 0.4
 
 [node name="Arena" type="Node3D"]
 script = ExtResource("1_iywne")
 
-[node name="Terrain" type="StaticBody3D" parent="."]
-
-[node name="MeshInstance3D" type="MeshInstance3D" parent="Terrain"]
-material_override = ExtResource("1_lnu2h")
-mesh = ExtResource("2_lbhrr")
-
-[node name="CollisionShape3D" type="CollisionShape3D" parent="Terrain"]
-shape = SubResource("ConcavePolygonShape3D_kldst")
+[node name="Boundary" parent="." instance=ExtResource("2_bndry")]
 
 [node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 11.0233, 0)
+transform = Transform3D(0.866025, -0.383022, 0.321394, 0, 0.642788, 0.766044, -0.5, -0.663414, 0.55667, 0, 11, 0)
 shadow_enabled = true
 
 [node name="WorldEnvironment" type="WorldEnvironment" parent="."]
-environment = SubResource("Environment_j5yw3")
+environment = SubResource("Environment_space")
 
 [node name="GoalTeam0" parent="." instance=ExtResource("6_p57ef")]
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.29962, 0.790881, 15.5633)
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.79, 17)
 
 [node name="GoalTeam1" parent="." instance=ExtResource("6_p57ef")]
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0.29962, 0.790881, -15.5633)
+transform = Transform3D(-1, 0, 0, 0, 1, 0, 0, 0, -1, 0, 0.79, -17)
 team = 1
 
 [node name="BallSpawn" type="Marker3D" parent="."]
@@ -49,9 +62,9 @@ transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2, 0)
 [node name="SpawnsTeam0" type="Node3D" parent="."]
 
 [node name="Spawn1" type="Marker3D" parent="SpawnsTeam0"]
-transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.8, 12)
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 2.8, 13.5)
 
 [node name="SpawnsTeam1" type="Node3D" parent="."]
 
 [node name="Spawn1" type="Marker3D" parent="SpawnsTeam1"]
-transform = Transform3D(-1, 0, 0, 0, 1, 0, 0, 0, -1, 0, 2.8, -12)
+transform = Transform3D(-1, 0, 0, 0, 1, 0, 0, 0, -1, 0, 2.8, -13.5)
diff --git a/Game/scripts/arena_boundary.gd b/Game/scripts/arena_boundary.gd
new file mode 100644
index 00000000..a9e54a2d
--- /dev/null
+++ b/Game/scripts/arena_boundary.gd
@@ -0,0 +1,13 @@
+class_name ArenaBoundary
+extends StaticBody3D
+
+# The standard arena play volume (inner faces of the enclosure). Every arena
+# instances objects/arena_boundary.tscn so all arenas share one size; code
+# that needs field dimensions derives them from these constants rather than
+# restating numbers.
+const INNER_HALF_X := 12.0
+const INNER_HALF_Z := 18.0
+const INNER_HEIGHT := 12.0
+# Goal-centre distance from arena centre; the end walls sit 1 m behind, so a
+# ball pinned against them still overlaps the goal sensor.
+const GOAL_LINE_Z := 17.0
diff --git a/Game/scripts/arena_boundary.gd.uid b/Game/scripts/arena_boundary.gd.uid
new file mode 100644
index 00000000..19f7163b
--- /dev/null
+++ b/Game/scripts/arena_boundary.gd.uid
@@ -0,0 +1 @@
+uid://f32otkpo3lvr
diff --git a/Game/scripts/ship_observations.gd b/Game/scripts/ship_observations.gd
index a05d1d86..3b3e8361 100644
--- a/Game/scripts/ship_observations.gd
+++ b/Game/scripts/ship_observations.gd
@@ -11,8 +11,9 @@ extends RefCounted
 # The same rotation must be inverted when interpreting actions (see canon —
 # it is its own inverse).
 
-# Normalization scales. Arena bounds: goals at z ≈ ±15.56, ship spawns at
-# z = ±12; positions are soft-normalized to roughly [-1, 1].
+# Normalization scales. Standard arena volume (see ArenaBoundary): x ±12,
+# z ±18, height 12, goals at z ±17; positions are soft-normalized to roughly
+# [-1, 1]. Do not retune without retraining every model in Game/bots/.
 const POSITION_SCALE := Vector3(20.0, 10.0, 20.0)
 const BALL_SPEED_SCALE := 30.0
 const GOAL_DISTANCE_SCALE := 40.0
diff --git a/Game/scripts/training_mode.gd b/Game/scripts/training_mode.gd
index d9b2cf55..bf23bf28 100644
--- a/Game/scripts/training_mode.gd
+++ b/Game/scripts/training_mode.gd
@@ -24,24 +24,26 @@ extends GameMode
 @export_range(0.0, 1.0) var kickoff_state_chance := 0.2
 @export_range(0.0, 1.0) var ball_near_goal_chance := 0.2
 
-# Placement bounds, inset from the arena (goals at z ≈ ±15.56).
-const FIELD_HALF_X := 10.0
-const FIELD_HALF_Z := 13.0
+# Placement bounds for randomized episode starts, derived from the standard
+# enclosure (ArenaBoundary). The inset keeps a randomly oriented ship (1x1x4
+# box, worst-case half-extent ~2.05) from spawning intersecting the walls,
+# ceiling, or goal sensors.
+const SPAWN_INSET := 2.5
+const FIELD_HALF_X := ArenaBoundary.INNER_HALF_X - SPAWN_INSET
+const FIELD_HALF_Z := ArenaBoundary.GOAL_LINE_Z - SPAWN_INSET
 const FIELD_MIN_Y := 1.5
-const FIELD_MAX_Y := 8.0
+const FIELD_MAX_Y := ArenaBoundary.INNER_HEIGHT - SPAWN_INSET
 const MAX_RANDOM_BALL_SPEED := 12.0
 const MAX_RANDOM_SHIP_SPEED := 8.0
 
 # Sim runs at 60 physics ticks per sim-second regardless of speedup.
 const TICKS_PER_SIM_SECOND := 60.0
 
-# The arena has no walls/ceiling yet (see TODO.md), so an untrained policy can
-# simply fly away. Leaving this volume ends the episode with a small penalty.
-const BOUNDS_HALF_X := 25.0
-const BOUNDS_HALF_Z := 25.0
-const BOUNDS_MIN_Y := -5.0
-const BOUNDS_MAX_Y := 25.0
-@export var out_of_bounds_penalty := 1.0
+# The arena is physically enclosed, so nothing should ever get this far out.
+# If a body escapes anyway (physics regression, boundary edit), it is warned
+# about and respawned with no reward change and no episode end — a multi-hour
+# training run must survive it, and the escape must not shape rewards.
+const ESCAPE_MARGIN := 15.0
 
 var _agents: Array[ShipAIController] = []
 
@@ -102,13 +104,10 @@ func _attack_goal_position(team: int) -> Vector3:
 
 
 func _physics_process(_delta):
+	_respawn_escaped_bodies()
 	if _eval:
 		_episode_ticks += 1
-		for ship in ships:
-			if is_instance_valid(ship) and _out_of_bounds(ship.global_position):
-				_place_body(ship, _ship_spawn_transforms[ship], Vector3.ZERO, Vector3.ZERO)
-		var ball_lost := is_instance_valid(ball) and _out_of_bounds(ball.global_position)
-		if _episode_ticks > int(episode_length_seconds * TICKS_PER_SIM_SECOND) or ball_lost:
+		if _episode_ticks > int(episode_length_seconds * TICKS_PER_SIM_SECOND):
 			_eval_draws += 1
 			_end_eval_episode()
 		return
@@ -128,23 +127,23 @@ func _physics_process(_delta):
 		_reset_episode()
 		return
 
-	# A ship leaving the play volume is penalized and respawned at its kickoff
-	# spawn (the episode continues); a lost ball ends the episode for both.
-	for agent in _agents:
-		if _out_of_bounds(agent.ship.global_position):
-			agent.reward -= out_of_bounds_penalty
-			_place_body(agent.ship, _ship_spawn_transforms[agent.ship], Vector3.ZERO, Vector3.ZERO)
-	if is_instance_valid(ball) and _out_of_bounds(ball.global_position) and not _agents.is_empty():
-		for agent in _agents:
-			agent.done = true
-		_reset_episode()
+
+# Escape failsafe: see ESCAPE_MARGIN.
+func _respawn_escaped_bodies() -> void:
+	for ship in ships:
+		if is_instance_valid(ship) and _escaped(ship.global_position):
+			push_warning("TrainingMode: ship escaped the enclosed arena — check boundary colliders")
+			_place_body(ship, _ship_spawn_transforms[ship], Vector3.ZERO, Vector3.ZERO)
+	if is_instance_valid(ball) and _escaped(ball.global_position):
+		push_warning("TrainingMode: ball escaped the enclosed arena — check boundary colliders")
+		_place_body(ball, arena.get_ball_spawn(), Vector3.ZERO, Vector3.ZERO)
 
 
-func _out_of_bounds(position: Vector3) -> bool:
-	return absf(position.x) > BOUNDS_HALF_X \
-		or absf(position.z) > BOUNDS_HALF_Z \
-		or position.y < BOUNDS_MIN_Y \
-		or position.y > BOUNDS_MAX_Y
+func _escaped(position: Vector3) -> bool:
+	return absf(position.x) > ArenaBoundary.INNER_HALF_X + ESCAPE_MARGIN \
+		or absf(position.z) > ArenaBoundary.INNER_HALF_Z + ESCAPE_MARGIN \
+		or position.y < -ESCAPE_MARGIN \
+		or position.y > ArenaBoundary.INNER_HEIGHT + ESCAPE_MARGIN
 
 
 func _on_goal_scored(conceding_team: int) -> void:
diff --git a/TODO.md b/TODO.md
index c2b82e6a..53a83281 100644
--- a/TODO.md
+++ b/TODO.md
@@ -29,5 +29,4 @@ The training pipeline is built — see `TRAINING.md` (self-play PPO via the vend
 ## General
 
 - [ ] No autoloads yet by design — add a singleton only when cross-scene state is actually needed (e.g. passing match settings/results between menu, match, and results screens).
-- [ ] More arenas: `arena_01.tscn` is the template — an arena is terrain + lighting + two team-tagged goals + spawn markers, with no rules or state.
-- [ ] Enclose the arena (walls/ceiling): ships and ball can currently fly out of the play volume. TrainingMode papers over this with an out-of-bounds episode-end + penalty; a real enclosed arena fixes it for players too and the training guard can then be removed.
+- [ ] More arenas: `arena_01.tscn` is the template — an arena is a setting (sky, lighting, decoration) + two team-tagged goals on the standard goal lines + spawn markers + an instance of the shared `objects/arena_boundary.tscn`, with no rules or state. All arenas share the standard play volume defined by `ArenaBoundary`'s constants.