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fix(closed_loop): 一致性打分错位一步（对齐 last[3]→last[4]，原来每次重规划奖励比上一计划慢一步的候选；Python 闭环与 ik-policy.js 同步修正）；rollout 加 select；diag_cl 删 F 段、加 G 段（1/4 段采样 × consist/value/first、4 段+安全层）；本机执行清单更新

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Hark
2026-10-19 03:42:46 +00:00
parent 0a19b29fd3
commit 0f5b84b919
4 changed files with 50 additions and 80 deletions
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webapp/js/ik-policy.js
+4 -3
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@@ -297,10 +297,11 @@ class Runner {
const fut = []; let qq = qe.slice(); for (let s = r; s < H; s++) { qq = qq.map((v, j) => v + inc[s][j]); fut.push(qq); }
let j1 = 0; for (let s = 0; s < H; s++) j1 += inc[s][0];
let score = -2.0 * out.value[k];
if (this.lastPlan) { // 与上一条已选计划的未来重叠步对齐（时间平移 3 步）
if (this.lastPlan) { // 与上一条已选计划的未来重叠步对齐：lastPlan[i] = 旧 qe 走 i 步，新 qe = lastPlan[commit]，fut[s] 对应 lastPlan[s+commit+1]
// 2026-10-19 修错位（原对齐 lastPlan[s+commit]，奖励比上一计划慢一步的候选；Python closed_loop.py 同步修正）
let c = 0, w = 1;
for (let s = 0; s < fut.length && s + o.commit < this.lastPlan.length; s++, w *= 0.85) {
let d2 = 0; for (let j = 0; j < 6; j++) d2 += Math.pow((fut[s][j] - this.lastPlan[s + o.commit][j]) / STEP[j], 2);
for (let s = 0; s < fut.length && s + o.commit + 1 < this.lastPlan.length; s++, w *= 0.85) {
let d2 = 0; for (let j = 0; j < 6; j++) d2 += Math.pow((fut[s][j] - this.lastPlan[s + o.commit + 1][j]) / STEP[j], 2);
c += w * d2;
}
score -= 0.02 * c;