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fix(training): restore ground_tilt_penalty, add grounded_upright_fraction diagnostic

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Round 4 changed three things at once and two of them cut upright pressure:
grounded_upright_reward went to 0 and ground_tilt_penalty was cut 2.5x,
while the new uprightness multiplier only pays below GROUND_HANDLING_HEIGHT
*and* while moving forward *and* facing the ball - a far narrower slice of
ticks than the penalty it was meant to replace. Net pressure fell and
upright_fraction fell with it (0.268 -> 0.239 -> 0.238, the lowest of any
round). Restore ground_tilt_penalty to 0.05 and change nothing else, so
this is a genuine single-variable test of multiplier plus full tilt
pressure.

The conjunctive mechanism itself held up: forward_motion_fraction reached
its best sustained value (0.242) without goal_rate sagging, ep_rew_mean
turned positive for the first time (+0.28), and eval win rate hit 49% with
no reward hacking.

Also adds grounded_upright_fraction: a diagnostic, deliberately ungated
metric measuring uprightness over real floor-contact ticks instead of
sub-3m ticks. upright_fraction has never exceeded 0.331 across four rounds
and ~560M steps without cheating, and its denominator is dominated by
ballistic transit (airborne_fraction ~0.45, mean_altitude ~4.4m) where
attitude is not meaningfully controllable - so it likely cannot measure
what the 0.45 floor was meant to capture. Re-baseline that floor from what
this reports rather than from another round of reshaping.
This commit is contained in:
Josh Creek
2026-08-14 19:36:45 +01:00
parent 7da5b8316f
commit 8f7f672a15
13 changed files with 68 additions and 269 deletions
Download Patch File Download Diff File Expand all files Collapse all files
training/generation5_state.json
+3 -259
View File
@@ -1,262 +1,6 @@
{
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}