Every new penalty ships with a pre-registered withdrawal clause - if healthy gait must pay above the cap, the term stands down
calibration-threshold-with-withdrawal-clause.Introduce every new penalty with: the zero-cost-option audit, a replay-calibrated weight formula (healthy pays a fixed small fraction of tracking), and a pre-registered withdrawal condition - and let the clause fire without argument when the calibration says the term cannot be afforded.
Symptom
Three same-shaped crashes had established a failure archetype: v4's clearance, v8a's landing window (weight off by 58x uncalibrated), and v6a's bare hip_yaw suppression all combined a zero-cost "don't move" option with a fee on any motion - a reverse barrier that pushes policies toward standing still.
Context
The v11 landing-window penalty was therefore introduced under a calibration-threshold protocol: (1) shape chosen with the window tightened (h_gate 0.03 -> 0.02, because 0.03 equaled the clearance target and priced the entire descent); (2) weight from a FORMULA, not judgment: measure the term's raw value on healthy replays (v5/v10b), set w = -(0.10-0.15 x tracking reward) / raw_healthy; (3) withdrawal clause pre-registered: if healthy gait must pay >15% of tracking no matter the tuning, the term is withdrawn to the next version rather than forced in - "不硬上". The companion hip_yaw quieting term ran the same protocol (calibrate on replays, healthy pays <=5%) and was later retired entirely when a structural fix (zero action scale) made its shaping tax unnecessary.
Change
Penalty introduction protocol: shape audit (what is the zero-cost option?), replay-based weight formula, healthy-pay cap with a written stand-down condition - all before training.
Outcome
The landing term was in fact withdrawn under its clause (v12 records "P5 落地窗口罚 已撤 … 维持撤下"), demonstrating the protocol firing as designed instead of the fourth same-type crash.
Mechanism
A penalty's damage mode is mispricing healthy behavior; since the healthy price is measurable in advance on replays, both the weight and the go/no-go decision can be computed rather than discovered by a ruined training run. The withdrawal clause converts "make it work" pressure into a clean deferral.
Applies when
- adding any motion-taxing penalty to a working gait
- a proposed term's weight has no measurement behind it
- a previous same-shaped term crashed training
“权重公式而非拍脑袋:先在 v5/v10b 回放上量 h_gate=0.02 的原始值,w = −(0.10~0.15 × 跟踪奖励) / raw_健康;标定门槛:若健康步态无论如何要付 >15% 跟踪,本项撤下留 v12,不硬上 (v4 clearance/v8a-B/v6a 三次同型翻车的教训:代价为零的"不动"选项 + 一动就收费 = 反向壁垒)。”