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feat(*): Fix exported-policy action order to gymnasium's sorted-key layout, add wall-contact penalty and stronger ball-touch reward, and wire Spectate to run01 vs run02

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Josh Creek
2026-07-19 13:21:14 +01:00
parent 6f1a840249
commit 772f98b7fe
6 changed files with 34 additions and 8 deletions
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CLAUDE.md
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@@ -56,4 +56,4 @@ See `TRAINING.md` for the full workflow (training, exporting, evaluating, diffic
- `scripts/ship_observations.gd` is the shared observation builder used by both training and in-game inference — never fork or diverge these two paths. Team 1's observations are mirrored (180° about Y) so one policy plays both sides.
- In-game bots: `scripts/ai_ship_controller.gd` (a `ShipController`) runs the exported policy JSON via `scripts/policy_network.gd` (pure-GDScript MLP) — no .NET/ONNX/Python at runtime. Models live in `Game/bots/`; Match mode's `bot_model_path`/`bot_reaction_ticks`/`bot_action_noise` exports configure the opponent.
- Python side lives in `training/` (venv, not committed): `train.py` (SB3 PPO, launches parallel headless Godot instances from source), `export_policy.py` (checkpoint → JSON with parity check), `evaluate.py` (head-to-head eval, appends `training/eval_history.json`).
- The flattened action space is Box(7): thrust xyz, rotation xyz, turbo (>0 = on) — this is `ShipAction` verbatim; change either only deliberately and together.
- The flattened action space is Box(7) in gymnasium's **sorted-key order**: rotation xyz, thrust xyz, turbo (>0 = on). The fields are `ShipAction`'s, but gymnasium alphabetizes Dict spaces, so the flat order is NOT ShipAction's thrust-first declaration order — `AIShipController._decide` consumes exported policies in sorted order; change the action space only deliberately and everywhere together.