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fix(*): apply the locomotion mask during in-game/eval inference, not just training

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AIShipController (eval + real gameplay) ran the raw policy output unmasked
regardless of allow_vertical/allow_pitch_roll, while ShipAIController
(training) correctly discarded those axes for grounded curriculum stages.
A grounded-trained model's untrained vertical/pitch-roll output reached the
ship as noise during eval, understating it against models that were never
handicapped this way.
This commit is contained in:
Josh Creek
2026-07-21 22:23:09 +01:00
parent dd2b3c570b
commit 8c15c466ef
5 changed files with 78 additions and 8 deletions
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training/evaluate.py
+29 -3
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@@ -23,7 +23,16 @@ TRAINING_SCENE = "res://scenes/training.tscn"
DEFAULT_GODOT_MACOS = "/Applications/Godot.app/Contents/MacOS/Godot"
def run_half(godot_bin: str, model_a: str, model_b: str, episodes: int, speedup: int, seed: int) -> dict:
def run_half(
godot_bin: str,
model_a: str,
model_b: str,
episodes: int,
speedup: int,
seed: int,
grounded_a: bool = False,
grounded_b: bool = False,
) -> dict:
cmd = [
godot_bin,
"--path",
@@ -37,6 +46,14 @@ def run_half(godot_bin: str, model_a: str, model_b: str, episodes: int, speedup:
f"--speedup={speedup}",
f"--env_seed={seed}",
]
# Must match how each model was actually trained (see AIShipController's
# allow_vertical/allow_pitch_roll) — a curriculum stage 1/2 model never
# got a reward gradient on these axes, so leaving them unmasked here adds
# untrained aerial noise the model's own training never had to contend with.
if grounded_a:
cmd += ["--eval_allow_vertical_a=false", "--eval_allow_pitch_roll_a=false"]
if grounded_b:
cmd += ["--eval_allow_vertical_b=false", "--eval_allow_pitch_roll_b=false"]
timeout = episodes * 30 / speedup * 3 + 120 # worst case: all draws, plus margin
result = subprocess.run(cmd, capture_output=True, text=True, timeout=timeout)
for line in result.stdout.splitlines():
@@ -57,6 +74,12 @@ def main():
)
parser.add_argument("--speedup", type=int, default=16)
parser.add_argument("--history", default=str(TRAINING_DIR / "eval_history.json"))
parser.add_argument(
"--grounded-a", action="store_true", help="model_a was trained with locomotion masked (curriculum stages 1-2)"
)
parser.add_argument(
"--grounded-b", action="store_true", help="model_b was trained with locomotion masked (curriculum stages 1-2)"
)
args = parser.parse_args()
model_a = str(pathlib.Path(args.model_a).resolve())
@@ -65,8 +88,11 @@ def main():
# Half the episodes on each side to cancel any residual side asymmetry;
# different seeds so the halves see different randomized episode states.
first = run_half(args.godot_bin, model_a, model_b, half, args.speedup, seed=1)
second = run_half(args.godot_bin, model_b, model_a, half, args.speedup, seed=2)
# Groundedness is per physical model, so it swaps sides along with it.
first = run_half(args.godot_bin, model_a, model_b, half, args.speedup, seed=1,
grounded_a=args.grounded_a, grounded_b=args.grounded_b)
second = run_half(args.godot_bin, model_b, model_a, half, args.speedup, seed=2,
grounded_a=args.grounded_b, grounded_b=args.grounded_a)
record = {
"timestamp": datetime.datetime.now(datetime.timezone.utc).isoformat(timespec="seconds"),