diff --git a/Game/bots/20260809-1340-gen5-s4-handling.json b/Game/bots/20260809-1340-gen5-s4-handling.json
deleted file mode 100644
index ba461814..00000000
--- a/Game/bots/20260809-1340-gen5-s4-handling.json
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/Game/bots/20260809-1955-gen5-s4-handling-retry1.json b/Game/bots/20260809-1955-gen5-s4-handling-retry1.json
deleted file mode 100644
index 96f2208b..00000000
--- a/Game/bots/20260809-1955-gen5-s4-handling-retry1.json
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/Game/bots/20260810-0211-gen5-s4-handling-retry2.json b/Game/bots/20260810-0211-gen5-s4-handling-retry2.json
deleted file mode 100644
index ca115c70..00000000
--- a/Game/bots/20260810-0211-gen5-s4-handling-retry2.json
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/Game/bots/20260810-1338-gen5-s4-handling-retry3.json b/Game/bots/20260810-1338-gen5-s4-handling-retry3.json
deleted file mode 100644
index fd935d00..00000000
--- a/Game/bots/20260810-1338-gen5-s4-handling-retry3.json
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/Game/bots/20260811-0858-gen5-s4-handling-retry4.json b/Game/bots/20260811-0858-gen5-s4-handling-retry4.json
deleted file mode 100644
index ff51a69a..00000000
--- a/Game/bots/20260811-0858-gen5-s4-handling-retry4.json
+++ /dev/null
@@ -1 +0,0 @@
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"bins": [-1.0, -0.5, 0.0, 0.5, 1.0]}, {"name": "turbo", "bins": [0.0, 1.0]}]}}
\ No newline at end of file
diff --git a/Game/scripts/ship_ai_controller.gd b/Game/scripts/ship_ai_controller.gd
index 2b296fc1..49c96592 100644
--- a/Game/scripts/ship_ai_controller.gd
+++ b/Game/scripts/ship_ai_controller.gd
@@ -87,11 +87,14 @@ extends AIController3D
 # policy that's still bad at ground handling could "solve" those penalties
 # by just avoiding the floor rather than by getting better at handling on
 # it — worsening Stage 3's already-airborne-heavy baseline instead of
-# fixing it. Kept an order of magnitude below ball_touch_reward/goal_reward
-# and comparable to time_penalty/ball_distance_penalty so grounding well is
-# attractive without making idling upright on the spot, away from the ball,
-# competitive with actually playing (see ball_distance_penalty's run04
-# lesson on why a flat positional bonus needs a countervailing cost).
+# fixing it. An initial 0.015 overshot this: it's a *guaranteed* per-tick
+# reward, so it needs to stay below ball_distance_penalty's worst case
+# (idling at the arena's far corner), not just "comparable" to it — at
+# 0.015 (above ball_distance_penalty's 0.01 ceiling) a Stage-4 run
+# converged on sitting pinned upright and farming this instead of chasing
+# the ball, cratering goal_rate. Keep this term's episode-long ceiling
+# (value * ~1800 ticks) below ball_distance_penalty's worst-case episode
+# cost, not just below ball_touch_reward/goal_reward.
 @export var grounded_upright_reward := 0.0
 # Per-tick bonus for own speed: 0 stationary, full value (+0.24/s) at
 # max_speed. Run07 lesson: after the kickoff flurry both ships parked next to
diff --git a/training/checkpoints/20260809-1340-gen5-s4-handling/final.zip b/training/checkpoints/20260809-1340-gen5-s4-handling/final.zip
deleted file mode 100644
index 15c3e701..00000000
Binary files a/training/checkpoints/20260809-1340-gen5-s4-handling/final.zip and /dev/null differ
diff --git a/training/checkpoints/20260809-1955-gen5-s4-handling-retry1/final.zip b/training/checkpoints/20260809-1955-gen5-s4-handling-retry1/final.zip
deleted file mode 100644
index 9841e0ec..00000000
Binary files a/training/checkpoints/20260809-1955-gen5-s4-handling-retry1/final.zip and /dev/null differ
diff --git a/training/checkpoints/20260810-0211-gen5-s4-handling-retry2/final.zip b/training/checkpoints/20260810-0211-gen5-s4-handling-retry2/final.zip
deleted file mode 100644
index 5d4c61e5..00000000
Binary files a/training/checkpoints/20260810-0211-gen5-s4-handling-retry2/final.zip and /dev/null differ
diff --git a/training/checkpoints/20260810-1338-gen5-s4-handling-retry3/final.zip b/training/checkpoints/20260810-1338-gen5-s4-handling-retry3/final.zip
deleted file mode 100644
index 6c02ab0c..00000000
Binary files a/training/checkpoints/20260810-1338-gen5-s4-handling-retry3/final.zip and /dev/null differ
diff --git a/training/checkpoints/20260811-0858-gen5-s4-handling-retry4/final.zip b/training/checkpoints/20260811-0858-gen5-s4-handling-retry4/final.zip
deleted file mode 100644
index ea584413..00000000
Binary files a/training/checkpoints/20260811-0858-gen5-s4-handling-retry4/final.zip and /dev/null differ
diff --git a/training/generation5.py b/training/generation5.py
index b96736e9..374dbcc9 100644
--- a/training/generation5.py
+++ b/training/generation5.py
@@ -58,6 +58,23 @@ STANDING_ARGS = ["--ent-coef", "0.01", "--entropy-floor"]
 # reward is the positive counterpart: a bonus for genuine floor contact
 # (not just low altitude) while upright, so grounding well is the locally
 # profitable choice rather than merely the least-punished one.
+#
+# Round 2 (2026-08-11): grounded_upright_reward at 0.015 overshot. Four
+# force-retries pushed upright_fraction from 0.265 to a plateauing 0.331,
+# then the fifth jumped it to 0.696 (55% over the 0.45 floor) while
+# goal_rate collapsed 0.542->0.366 and forward_motion_fraction fell
+# 0.244->0.184 — the ship learned to sit pinned upright on the floor
+# (vertical_thrust_mean went negative) and farm the bonus instead of
+# playing. Root cause: 0.015/tick was actually *larger* than
+# ball_distance_penalty's worst case (0.01/tick), so idling near the ball
+# beat chasing it — not "comparable to time_penalty/ball_distance_penalty"
+# as originally sized. Cut to 0.004/tick (a full grounded episode now caps
+# at ~7.2, versus ball_distance_penalty's worst-case ~18 and a single goal's
+# 80) — enough to stop "avoid the floor" without being worth farming over
+# actually playing. Resets from the Stage-3 foundation again rather than
+# continuing from the farming checkpoint, same reasoning as the ground_tilt/
+# non_forward_penalty retune: don't resume a policy shaped by one reward
+# balance into a meaningfully different one.
 HANDLING_REWARD_FLAGS = [
     "--velocity-to-ball-weight", "0.04",
     "--forward-velocity-to-ball-weight", "0.06",
@@ -69,7 +86,7 @@ HANDLING_REWARD_FLAGS = [
     "--tilt-penalty", "0.0002",
     "--ground-tilt-penalty", "0.05",
     "--non-forward-penalty", "0.04",
-    "--grounded-upright-reward", "0.015",
+    "--grounded-upright-reward", "0.004",
 ]
 
 STAGES = [
diff --git a/training/generation5_state.json b/training/generation5_state.json
index b582f609..30c376dc 100644
--- a/training/generation5_state.json
+++ b/training/generation5_state.json
@@ -1,431 +1,6 @@
 {
   "stage_index": 0,
-  "attempt": 4,
-  "status": "blocked",
-  "log": [
-    {
-      "stage_index": 0,
-      "stage_number": 4,
-      "stage_name": "handling",
-      "experiment": "20260809-1340-gen5-s4-handling",
-      "attempt": 0,
-      "telemetry_tail": {
-        "rollout/air_touch_fraction": 0.00035999999195337296,
-        "rollout/airborne_fraction": 0.44166228532791135,
-        "rollout/ep_len_mean": 138.77144021606446,
-        "rollout/ep_rew_mean": -5.834176032543183,
-        "rollout/forward_motion_fraction": 0.21531347577273846,
-        "rollout/goal_rate": 0.5669200012683868,
-        "rollout/mean_altitude": 4.419930323600769,
-        "rollout/productive_air_touch_fraction": 3.999999910593033e-05,
-        "rollout/upright_fraction": 0.2645233328640461,
-        "rollout/vertical_thrust_mean": 0.09886699930951
-      },
-      "telemetry_failures": [
-        "rollout/goal_rate=0.5669 < 0.8000",
-        "rollout/upright_fraction=0.2645 < 0.4500",
-        "rollout/forward_motion_fraction=0.2153 < 0.2500"
-      ],
-      "evaluation_goal_failures": [
-        "easy.json: goal_rate=0.770 < 0.800"
-      ],
-      "side_balance_failures": [],
-      "eval": {
-        "timestamp": "2026-08-09T18:55:13+00:00",
-        "model_a": "/home/jcreek/ai-training/CosmicClash/Game/bots/20260809-1340-gen5-s4-handling.json",
-        "model_b": "/home/jcreek/ai-training/CosmicClash/Game/bots/promoted/easy.json",
-        "seed": 1,
-        "episodes": 100,
-        "wins_a": 46,
-        "wins_b": 31,
-        "draws": 23,
-        "side_results": {
-          "a_team_0": {
-            "wins_a": 21,
-            "wins_b": 17,
-            "draws": 12
-          },
-          "a_team_1": {
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-            "wins_b": 14,
-            "draws": 11
-          }
-        },
-        "physical_team_wins": {
-          "team_0": 35,
-          "team_1": 42
-        },
-        "win_rate_a": 0.46
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-          "model_b": "/home/jcreek/ai-training/CosmicClash/Game/bots/promoted/easy.json",
-          "seed": 1,
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-          "side_results": {
-            "a_team_0": {
-              "wins_a": 21,
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-            "a_team_1": {
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-          },
-          "physical_team_wins": {
-            "team_0": 35,
-            "team_1": 42
-          },
-          "win_rate_a": 0.46
-        }
-      ],
-      "decision": "fail"
-    },
-    {
-      "stage_index": 0,
-      "stage_number": 4,
-      "stage_name": "handling",
-      "experiment": "20260809-1955-gen5-s4-handling-retry1",
-      "attempt": 1,
-      "telemetry_tail": {
-        "rollout/air_touch_fraction": 0.00019999999552965163,
-        "rollout/airborne_fraction": 0.45090347522497176,
-        "rollout/ep_len_mean": 145.11324035644532,
-        "rollout/ep_rew_mean": -1.5461844632700086,
-        "rollout/forward_motion_fraction": 0.21509128576517106,
-        "rollout/goal_rate": 0.5097999980449677,
-        "rollout/mean_altitude": 4.43802117395401,
-        "rollout/productive_air_touch_fraction": 9.999999776482581e-05,
-        "rollout/upright_fraction": 0.3002223813533783,
-        "rollout/vertical_thrust_mean": 0.047706998658077794
-      },
-      "telemetry_failures": [
-        "rollout/goal_rate=0.5098 < 0.8000",
-        "rollout/upright_fraction=0.3002 < 0.4500",
-        "rollout/forward_motion_fraction=0.2151 < 0.2500"
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-      "evaluation_goal_failures": [
-        "easy.json: goal_rate=0.690 < 0.800"
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-      "side_balance_failures": [],
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-        "model_a": "/home/jcreek/ai-training/CosmicClash/Game/bots/20260809-1955-gen5-s4-handling-retry1.json",
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-      "stage_name": "handling",
-      "experiment": "20260810-0211-gen5-s4-handling-retry2",
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-        "model_b": "/home/jcreek/ai-training/CosmicClash/Game/bots/promoted/easy.json",
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