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

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Stage 5 blocked all three attempts on productive_air_touch_fraction
stuck exactly at 0.0 across a continuous 180M-step lineage, while
goal_rate/upright_fraction/forward_motion_fraction kept improving on
the same budget. forward_velocity_to_ball_weight (the term that solved
Stage 4's ground pursuit) is hard-gated below GROUND_HANDLING_HEIGHT
and does nothing in the air, so Stage 5's air_intercept_chance had no
matching aerial incentive to learn from. air_approach_weight adds the
airborne mirror (nose-first 3D closing speed, no uprightness
multiplier) and folds into HANDLING_REWARD_FLAGS so Stage 6 inherits
it too. Deleted the three blocked attempts and reset state to resume
Stage 5 from the Stage-4 checkpoint with the new term.

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This commit is contained in:

Josh Creek

2026-08-18 16:03:56 +01:00

parent 0e685edcf8

commit 88591e031f

15 changed files with 93 additions and 254 deletions

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Game/bots/20260817-0750-gen5-s5-intercepts.json

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Game/bots/20260817-1701-gen5-s5-intercepts-retry1.json

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Game/bots/20260818-0210-gen5-s5-intercepts-retry2.json

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