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Josh Creek
c56f5ed1a3
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.