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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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