ml: 数据生成 + 可微运动学对拍 + MeanFlow/WTA 策略与闭环仿真 + APG/挖错/ONNX 导出与运行手册

- M1 数据生成器：采样/老师/距离下界认证/时间律/统计/一致性门禁；确定性老师（碰撞次数计时 + resetSession）、pos 任务冻结 J6、--consensus 邻域共识过滤、Dr 类。
- 全流程代码与运行手册：数据打包/可微运动学与对拍/MeanFlow+WTA 模型/闭环仿真/APG/挖错循环/ONNX 导出；webapp 策略运行时 ik-policy.js、?policy=1 接入、tests/policy_bench.cjs；ik-solver 增 pairList/clusterExport/criticalPairs/pairGap/leverTable。

ml/gen/sampler.cjs

@@ -0,0 +1,32 @@
+/* 任务采样（方案 §4.3）：A 均匀 45% / B 直线被挡 30% / C 贴立柱 15% / D 目标不可达 10%；pos/pose 各半（D 只做 pos） */
+'use strict';
+module.exports = function makeSampler(S, seed) {
+  const L = S.LIM, O = S.ORDER, w = S.wrap180;
+  let st = (seed >>> 0) || 1; const rnd = () => { st = (st * 1664525 + 1013904223) >>> 0; return st / 4294967296; };
+  const rq = () => O.map(id => { const t = L[id]; return t.lo + rnd() * (t.hi - t.lo); });
+  const d = (a, b) => a.map((v, i) => L[O[i]].cont ? w(b[i] - v) : b[i] - v);
+  const segOK = (a, b) => { const dd = d(a, b); const n = Math.max(1, Math.ceil(Math.max(...dd.map(Math.abs)))); for (let i = 1; i <= n; i++) if (!S.collideFree(a.map((v, k) => v + dd[k] * i / n))) return false; return true; };
+  const hitsColumn = q => (S.collideDetail(q) || []).some(p => /立柱/.test(p.cnA + p.cnB));
+  const nearColumn = q => { for (const k of [0, 1, 2]) for (const sg of [-4, 4]) { const p = q.slice(); p[k] += sg; if (hitsColumn(p)) return true; } return false; };
+  const freeQ = () => { for (;;) { const q = rq(); if (S.collideFree(q)) return q; } };
+  function sample() {
+    const u = rnd();
+    const cat = u < 0.45 ? 'A' : u < 0.75 ? 'B' : u < 0.90 ? 'C' : 'D';
+    let a, b, T, R = null;
+    if (cat === 'A') { a = freeQ(); b = freeQ(); }
+    else if (cat === 'B') { for (;;) { a = freeQ(); b = freeQ(); if (!segOK(a, b)) break; } }
+    else if (cat === 'C') {
+      for (;;) { b = rq(); if (!S.collideFree(b) || !nearColumn(b)) continue; a = null;
+        for (let t = 0; t < 200; t++) { const c = rq(); if (S.collideFree(c) && !segOK(c, b)) { a = c; break; } } if (a) break; }
+    } else {
+      a = freeQ();
+      if (rnd() < 0.6) { for (;;) { b = rq(); if (hitsColumn(b)) break; } T = S.fk(b, 0); }    // 目标位置落在立柱附近/内部
+      else { b = rq(); const p = S.fk(b, 0), o = S.fk(O.map(() => 0), 0); T = p.map((v, i) => o[i] + (v - o[i]) * 1.6); } // 工作空间外
+    }
+    const mode = cat === 'D' ? 'pos' : (rnd() < 0.5 ? 'pos' : 'pose');
+    if (!T) T = S.fk(b, 0);
+    if (mode === 'pose') R = S.orient(b);
+    return { cat, mode, q0: a, T, R, qb: b };
+  }
+  return { sample, rnd, segOK };
+};