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chore(training): add air_touch_bonus_weight and restart stage-5 intercepts

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air_approach_weight alone didn't move productive_air_touch_fraction after a
further 180M steps (360M cumulative across all six Stage-5 attempts): an
unredirected air-intercept ball falls short of the goal from gravity and
just lands on the floor, so the already-solved ground game collects the
same episode reward whether or not anything touched the ball in the air.
air_touch_bonus_weight adds a conjunctive event bonus on top of
ball_touch_reward for a touch that's both genuinely aerial and
goal-directed, targeting the actual measured behaviour instead of only the
approach to it.
This commit is contained in:
Josh Creek
2026-08-19 22:46:04 +01:00
parent 03f49e59c8
commit 602fa297d0
15 changed files with 100 additions and 260 deletions
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Game/scripts/training_mode.gd
+2 -1
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@@ -265,7 +265,7 @@ const TRAINING_MODE_OVERRIDES := [
const SHIP_AI_OVERRIDES := [
"ball_touch_reward", "ball_touch_cooldown_ticks", "ball_touch_direction_floor",
"velocity_to_ball_weight", "ball_velocity_to_goal_weight", "ball_distance_penalty",
"forward_velocity_to_ball_weight", "air_approach_weight", "wall_contact_penalty", "tilt_penalty",
"forward_velocity_to_ball_weight", "air_approach_weight", "air_touch_bonus_weight", "wall_contact_penalty", "tilt_penalty",
"ground_tilt_penalty", "non_forward_penalty", "grounded_upright_reward",
"speed_reward_weight", "time_penalty", "airborne_penalty",
]
@@ -324,6 +324,7 @@ func _ai_default(name: String) -> Variant:
"velocity_to_ball_weight": return 0.02
"forward_velocity_to_ball_weight": return 0.0
"air_approach_weight": return 0.0
"air_touch_bonus_weight": return 0.0
"ball_velocity_to_goal_weight": return 0.004
"ball_distance_penalty": return 0.002
"wall_contact_penalty": return 0.0025