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Josh Creek
b8e2a7b57a
grounded_upright_reward at 0.015 overshot: four force-retries pushed upright_fraction from 0.265 to a plateauing 0.331, then the fifth jumped it to 0.696 (55% over the 0.45 floor) while goal_rate collapsed 0.542->0.366 and forward_motion_fraction fell 0.244->0.184 (vertical_thrust_mean went negative) - the policy learned to sit pinned upright and farm the bonus instead of chasing the ball. It was sized "comparable to time_penalty/ball_distance_penalty" but at 0.015/tick it was actually above ball_distance_penalty's 0.01/tick worst case, so idling near the ball beat playing. Cut to 0.004/tick (episode ceiling ~7.2, below ball_distance_penalty's ~18 worst case). Delete the five blocked attempts and reset generation5_state.json so the next run starts fresh from the Stage-3 foundation rather than continuing from the farming checkpoint.