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Josh Creek
4f3cf56e28
Rounds 2 and 3 showed that tuning grounded_upright_reward's magnitude only slides along a tradeoff instead of resolving it: at 0.015 upright_fraction climbed to 0.331 while goal_rate sagged to 0.542 (then farmed outright at 0.696/0.366), and at 0.004 goal_rate climbed 0.569->0.604 while upright_fraction went flat at ~0.26. An additive uprightness bonus is an alternative to playing well, so the policy just picks whichever is cheaper and no magnitude buys both behaviours. Change the mechanism rather than the number: grounded_upright_reward drops to 0, and uprightness becomes a multiplier inside the nose-led approach term, which already requires moving forward at the ball. Parked-and-upright and fast-but-sideways now both pay zero; only upright, forward, nose-on to the ball pays full. forward-velocity-to-ball rises 0.06 -> 0.15 to offset the ~2-3x expected-value cut from the new factor, and ground-tilt-penalty drops 0.05 -> 0.02 now that uprightness is paid positively during play. Delete the three blocked attempts and reset state to restart from the Stage-3 foundation.