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Josh Creek
8f7f672a15
Round 4 changed three things at once and two of them cut upright pressure: grounded_upright_reward went to 0 and ground_tilt_penalty was cut 2.5x, while the new uprightness multiplier only pays below GROUND_HANDLING_HEIGHT *and* while moving forward *and* facing the ball - a far narrower slice of ticks than the penalty it was meant to replace. Net pressure fell and upright_fraction fell with it (0.268 -> 0.239 -> 0.238, the lowest of any round). Restore ground_tilt_penalty to 0.05 and change nothing else, so this is a genuine single-variable test of multiplier plus full tilt pressure. The conjunctive mechanism itself held up: forward_motion_fraction reached its best sustained value (0.242) without goal_rate sagging, ep_rew_mean turned positive for the first time (+0.28), and eval win rate hit 49% with no reward hacking. Also adds grounded_upright_fraction: a diagnostic, deliberately ungated metric measuring uprightness over real floor-contact ticks instead of sub-3m ticks. upright_fraction has never exceeded 0.331 across four rounds and ~560M steps without cheating, and its denominator is dominated by ballistic transit (airborne_fraction ~0.45, mean_altitude ~4.4m) where attitude is not meaningfully controllable - so it likely cannot measure what the 0.45 floor was meant to capture. Re-baseline that floor from what this reports rather than from another round of reshaping.
7 lines
79 B
JSON
7 lines
79 B
JSON
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