From 27414bfae7379064b0a48ea9c5347b18172eca37 Mon Sep 17 00:00:00 2001
From: cbb <2625274797@qq.com>
Date: Tue, 20 Oct 2026 22:28:10 +0800
Subject: [PATCH] =?UTF-8?q?fix+test:=20reverse=5Frate=20=E5=8F=A3=E5=BE=84?=
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---
 ml/sim/closed_loop.py | 3 ++-
 tests/test_eval_cl.py | 5 +++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/ml/sim/closed_loop.py b/ml/sim/closed_loop.py
index 05830fd..3d75dc1 100644
--- a/ml/sim/closed_loop.py
+++ b/ml/sim/closed_loop.py
@@ -512,7 +512,8 @@ def rollout(model, kin, tasks, device, K=8, safety=False, seed=0, max_sec=None,
     per = {'done': done.cpu(), 'ok': ok.cpu(), 't_done': t_done.cpu(), 'limit': limit.cpu(), 'col': col.cpu(), 'travel': travel.cpu(), 'err': e_end.cpu(),
            'side': side.cpu(), 'start_fail': start_fail.cpu(), 'brakes': brakes.cpu(), 'backoff': bo.cpu(), 'first_hit': first_hit.cpu(), 'dls_it': dls_it.cpu(),
            'goal_ratio_2s': ratio2.cpu(), 'speed_ratio': vratio.cpu(), 'accel_ratio': aratio.cpu(),
-           'reverse_rate': (rev / nact.clamp_min(1.0)).cpu()}
+           # 口径与离线分解一致：换向的 (步,轴) 对数 / 活动的 (步,轴) 对数 ∈ [0,1]（除以 6 个轴）
+           'reverse_rate': (rev / (6.0 * nact.clamp_min(1.0))).cpu()}
     if return_traj:
         per['traj'] = torch.stack(traj, 1).cpu()
         per['plans'] = {k: torch.tensor(v) if k in ('it', 'r') else torch.stack(v, 1).cpu() for k, v in plans.items()}
diff --git a/tests/test_eval_cl.py b/tests/test_eval_cl.py
index ddcef9b..09fcd86 100644
--- a/tests/test_eval_cl.py
+++ b/tests/test_eval_cl.py
@@ -820,8 +820,9 @@ class TravelPenaltySelectTest(unittest.TestCase):
         self.assertAlmostEqual(p0['traj'][0, 1, 0].item(), 0.9 * 1.2, places=5)
         p1 = self.run1(1.0)      # 加惩罚：行程 10.8 vs 3.6 ⇒ 选匀速那条
         self.assertAlmostEqual(p1['traj'][0, 1, 0].item(), 0.225 * 1.2, places=5)
-        # 换向率指标要有灵敏度：抖动轨迹必须报出高换向，匀速轨迹必须接近 0（正对照，不然等于没测）
-        self.assertGreater(float(p0['reverse_rate'][0]), 0.4)
+        # 换向率指标要有灵敏度，而且要能算出来：这里 3 个活动步 × 6 轴为分母，抖动条在第 0 轴翻了 2 次 ⇒ 2/18。
+        # 口径 = 换向的(步,轴)对 / 活动的(步,轴)对；匀速条一条都不翻。
+        self.assertAlmostEqual(float(p0['reverse_rate'][0]), 2.0 / 18.0, places=5)
         self.assertLess(float(p1['reverse_rate'][0]), 1e-6)
 
     def test_waste_penalty_also_separates_them(self):