fix+test: reverse_rate 口径改为换向(步,轴)对/活动(步,轴)对，与离线分解同分母；正对照改成可手算的 2/18

2026-10-20 22:28:10 +08:00
parent 3e015b7485
commit 27414bfae7
2 changed files with 5 additions and 3 deletions
@@ -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()}