jcreek/CosmicClash
1
0
Fork 0
mirror of https://github.com/jcreek/CosmicClash.git synced 2026-09-11 00:14:00 +00:00
Code Issues Packages Projects Releases Wiki Activity

chore(training): retune stage-4 handling penalties and restart from Stage-3 foundation

Browse Source 
Stage 4's upright/forward-motion telemetry plateaued flat across all three
blocked attempts because ground_tilt_penalty (0.003) was too weak to matter
and nothing penalized sideways/reverse motion at all. Raise
ground_tilt_penalty to 0.05 and add a new non_forward_penalty term
(ship_ai_controller.gd) that directly costs non-forward planar velocity near
the floor, independent of the ball. Delete the three blocked attempts'
checkpoints/logs/exports and reset generation5_state.json so the next run
starts fresh from the Stage-3 foundation checkpoint instead of continuing
from the drifted retry2 weights.
This commit is contained in:
Josh Creek
2026-08-09 13:09:12 +01:00
parent 005cd0c66e
commit c56f5ed1a3
14 changed files with 41 additions and 263 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Game/scripts/ship_ai_controller.gd
+19
View File
@@ -74,6 +74,11 @@ extends AIController3D
# pitch/roll during a real aerial. Generation 5 uses this instead of raising
# the global tilt_penalty back to its pre-flight value.
@export var ground_tilt_penalty := 0.0
# Per-tick penalty on the planar-velocity component not pointed along the
# nose (sideways or reverse), independent of the ball — the mirror image of
# forward_velocity_to_ball_weight's ball-conditioned bonus. Same
# GROUND_HANDLING_HEIGHT altitude fade as ground_tilt_penalty.
@export var non_forward_penalty := 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
# a cornered ball — with every other dense term near zero there, standing
@@ -324,6 +329,20 @@ func _physics_process(delta):
var tilt_ground_factor: float = 1.0 - clampf(ship.global_position.y / GROUND_HANDLING_HEIGHT, 0.0, 1.0)
reward -= ground_tilt_penalty * (1.0 - ground_uprightness) * 0.5 * tilt_ground_factor
# Dense penalty: any planar velocity component not pointed along the nose
# (sideways or reverse), independent of the ball — the mirror image of
# forward_velocity_to_ball_weight's ball-conditioned bonus. Fades out with
# altitude via the same GROUND_HANDLING_HEIGHT ramp as ground_tilt_penalty.
if non_forward_penalty > 0.0 and ship.global_position.y < GROUND_HANDLING_HEIGHT:
var non_forward_planar_velocity := Vector3(ship.linear_velocity.x, 0.0, ship.linear_velocity.z)
var non_forward_planar_speed := non_forward_planar_velocity.length()
var non_forward_planar_forward := Vector3(-ship.global_transform.basis.z.x, 0.0, -ship.global_transform.basis.z.z)
if non_forward_planar_speed > 0.0001 and non_forward_planar_forward.length_squared() > 0.0001:
var forward_component: float = maxf(non_forward_planar_velocity.dot(non_forward_planar_forward.normalized()), 0.0)
var non_forward_speed: float = non_forward_planar_speed - forward_component
var non_forward_ground_factor: float = 1.0 - clampf(ship.global_position.y / GROUND_HANDLING_HEIGHT, 0.0, 1.0)
reward -= non_forward_penalty * (non_forward_speed / ship.max_speed) * non_forward_ground_factor
# Dense penalty: height above the floor (see airborne_penalty). The
# floor sits at world y = 0 (see training_mode.gd's FIELD_MIN_Y/
# _escaped bounds); normalized so the worst case is pinned at the