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

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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
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Game/scripts/training_mode.gd
+2 -1
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@@ -251,7 +251,7 @@ const SHIP_AI_OVERRIDES := [
"ball_touch_reward", "ball_touch_cooldown_ticks", "ball_touch_direction_floor",
"velocity_to_ball_weight", "ball_velocity_to_goal_weight", "ball_distance_penalty",
"forward_velocity_to_ball_weight", "wall_contact_penalty", "tilt_penalty",
"ground_tilt_penalty", "speed_reward_weight", "time_penalty",
"ground_tilt_penalty", "non_forward_penalty", "speed_reward_weight", "time_penalty",
"airborne_penalty",
]
@@ -312,6 +312,7 @@ func _ai_default(name: String) -> Variant:
"wall_contact_penalty": return 0.0025
"tilt_penalty": return 0.0005
"ground_tilt_penalty": return 0.0
"non_forward_penalty": return 0.0
"speed_reward_weight": return 0.004
"time_penalty": return 0.001
"airborne_penalty": return 0.0