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Josh Creek
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air_approach_weight alone didn't move productive_air_touch_fraction after a further 180M steps (360M cumulative across all six Stage-5 attempts): an unredirected air-intercept ball falls short of the goal from gravity and just lands on the floor, so the already-solved ground game collects the same episode reward whether or not anything touched the ball in the air. air_touch_bonus_weight adds a conjunctive event bonus on top of ball_touch_reward for a touch that's both genuinely aerial and goal-directed, targeting the actual measured behaviour instead of only the approach to it.