cbb/Robot_Arm
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

perf+exp: 轮次34——复用cum_xf进库(22项指标逐位不变)、批量认证压最坏尾部(80→37ms)、FP16/BF16实测无收益

Browse Source 
- 撤回一条自己的假收益：先前"合并几何查询→24.5ms"不成立。①第一版把 xf= 传给含5行的 gaps，
  只有第0行走完宽相位，认证点全部退回截顶40.0（少干活）；②真实顺序 特征→推理→候选→认证，
  认证点依赖网络输出，故"特征间隙与认证点合并一次调用"实现上做不到
- 可实现并已落地：gm_groups(..., xf=) 复用 features 已算的 cum_xf，B=1 交错实测 P50 −3.4ms；
  256题重跑 22 项指标与轮次33 base 逐项相同
- 新增 --cert_batch（默认0不变）：K条候选并成1次 gaps 调用。合成夹具(B=2)断言选择/轨迹/证书逐位一致，
  变异检查（换回错误索引）2项测试立即失败；256题重跑同样 22 项指标逐位相同
  实测交换：典型 33.5→37.6ms，最坏（前面候选被拒）80.2→37.1ms，P99 64.7→48.3ms
- FP16/BF16 实测不比 FP32 快（推理 7.68→8.31→8.58ms），整周期不变而 P99 更差，动作偏差 0.005°/0.038°
  → 小批量下不是算力受限，半精度不划算，推理保持 FP32
- 仍不达 20ms：下一刀是流水线复用（下次规划的特征间隙＝本次已认证的末点），可整块省掉特征 ~13ms
- 测试 32→34 项
This commit is contained in:
cbb
2026-10-20 20:53:43 +08:00
parent 48cc566c3f
commit 34019c1a34
10 changed files with 1545 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/experiment_round34_geom_opt.json
+630
View File
@@ -0,0 +1,630 @@
{
"device": "NVIDIA GeForce RTX 3090",
"B": 1,
"K": 8,
"commit_n": 2,
"reps": 80,
"design": "5 \u4e2a\u53d8\u4f53\u9010\u8f6e\u4ea4\u66ff\uff08\u5947\u6570\u8f6e\u53cd\u5e8f\uff09\uff1b\u53ea\u6d4b\u53ef\u5b9e\u73b0\u7684\u53e3\u5f84\uff1a\u7279\u5f81/\u63a8\u7406/\u8ba4\u8bc1\u6309\u771f\u5b9e\u987a\u5e8f",
"equivalence": {
"batch_cert_matrix_equal_to_loop": true,
"features_xf_reuse_bitwise_equal": true
},
"results": {
"A_today": {
"p50": 33.494,
"p95": 46.143,
"p99": 64.693,
"max": 64.693,
"raw_ms": [
28.984,
29.251,
29.361,
29.549,
29.899,
29.944,
30.181,
30.605,
30.624,
30.744,
30.815,
30.838,
30.862,
30.9,
31.024,
31.092,
31.115,
31.262,
31.433,
31.463,
31.52,
31.572,
31.642,
31.741,
31.871,
31.902,
31.924,
31.933,
31.976,
32.001,
32.03,
32.06,
32.285,
32.384,
32.624,
32.825,
32.919,
33.063,
33.168,
33.197,
33.494,
33.589,
33.624,
33.632,
33.666,
33.708,
33.727,
33.735,
33.754,
33.773,
33.869,
33.907,
34.116,
34.219,
34.314,
34.337,
34.897,
34.957,
35.436,
35.469,
35.999,
36.106,
36.523,
36.559,
36.846,
36.866,
36.922,
37.354,
37.375,
37.581,
37.933,
38.026,
40.541,
40.882,
44.161,
44.233,
46.143,
54.047,
58.36,
64.693
]
},
"B_xf_reuse": {
"p50": 30.122,
"p95": 42.349,
"p99": 66.368,
"max": 66.368,
"raw_ms": [
26.698,
26.958,
26.984,
27.007,
27.018,
27.158,
27.308,
27.369,
27.987,
28.066,
28.219,
28.288,
28.362,
28.517,
28.537,
28.539,
28.593,
28.611,
28.638,
28.735,
28.828,
28.871,
28.922,
28.945,
28.978,
29.088,
29.202,
29.226,
29.226,
29.31,
29.497,
29.506,
29.531,
29.549,
29.649,
29.875,
29.978,
29.992,
30.025,
30.102,
30.122,
30.243,
30.245,
30.263,
30.407,
30.578,
30.665,
30.717,
30.863,
30.884,
30.889,
30.95,
31.023,
31.314,
31.525,
31.537,
31.543,
31.549,
31.62,
32.011,
32.098,
32.168,
32.188,
32.22,
32.578,
32.818,
32.851,
32.929,
32.991,
33.76,
33.805,
33.831,
33.94,
34.124,
34.891,
39.001,
42.349,
43.636,
62.045,
66.368
]
},
"C_batch_cert": {
"p50": 38.048,
"p95": 50.171,
"p99": 59.86,
"max": 59.86,
"raw_ms": [
33.625,
33.736,
33.848,
34.235,
34.49,
34.917,
34.918,
35.108,
35.407,
35.919,
36.023,
36.035,
36.087,
36.263,
36.318,
36.531,
36.627,
36.638,
36.722,
36.778,
36.791,
36.801,
36.816,
36.859,
36.97,
36.998,
37.029,
37.055,
37.057,
37.093,
37.208,
37.318,
37.408,
37.438,
37.463,
37.501,
37.503,
37.605,
37.63,
37.984,
38.048,
38.283,
38.347,
38.524,
38.547,
38.667,
38.816,
38.995,
39.028,
39.34,
39.617,
39.679,
39.845,
39.852,
39.871,
39.894,
39.923,
40.195,
40.514,
41.421,
41.684,
41.804,
41.879,
41.933,
42.011,
42.127,
42.483,
42.551,
42.656,
43.038,
43.248,
43.269,
45.68,
46.514,
46.755,
48.909,
50.171,
50.906,
55.33,
59.86
]
},
"D_both": {
"p50": 34.87,
"p95": 39.811,
"p99": 48.258,
"max": 48.258,
"raw_ms": [
30.044,
30.934,
31.005,
31.007,
31.064,
31.492,
31.675,
31.758,
32.114,
32.153,
32.338,
32.374,
32.442,
32.494,
32.681,
32.882,
32.942,
32.991,
33.167,
33.18,
33.302,
33.305,
33.342,
33.449,
33.58,
33.694,
33.739,
33.784,
33.832,
33.835,
33.866,
33.961,
34.037,
34.135,
34.315,
34.395,
34.465,
34.556,
34.656,
34.819,
34.87,
34.98,
35.047,
35.176,
35.19,
35.37,
35.461,
35.528,
35.557,
35.59,
35.643,
35.716,
35.742,
35.804,
35.991,
36.018,
36.063,
36.105,
36.293,
36.312,
36.326,
36.537,
36.541,
36.602,
36.717,
36.934,
36.945,
37.088,
37.141,
37.46,
37.561,
37.608,
37.765,
37.904,
37.974,
39.253,
39.811,
40.076,
46.504,
48.258
]
},
"E_both_cont_n8": {
"p50": 43.725,
"p95": 51.084,
"p99": 65.681,
"max": 65.681,
"raw_ms": [
37.733,
39.087,
39.154,
39.238,
39.36,
39.454,
39.514,
40.167,
40.44,
40.837,
40.86,
40.868,
41.237,
41.276,
41.346,
41.408,
41.551,
41.815,
41.824,
41.912,
41.932,
41.973,
42.074,
42.296,
42.341,
42.365,
42.435,
42.505,
42.592,
42.598,
42.637,
42.85,
43.045,
43.048,
43.18,
43.209,
43.359,
43.361,
43.373,
43.411,
43.725,
43.728,
43.787,
43.833,
43.985,
44.133,
44.185,
44.401,
44.458,
44.585,
44.689,
44.819,
44.841,
44.86,
45.081,
45.087,
45.55,
45.701,
45.939,
46.06,
46.128,
46.264,
46.368,
46.43,
46.957,
47.145,
47.231,
47.256,
47.463,
47.637,
47.819,
47.863,
48.382,
48.87,
49.676,
50.884,
51.084,
51.17,
53.859,
65.681
]
},
"F_worst_loop8": {
"p50": 80.224,
"p95": 88.436,
"p99": 89.553,
"max": 89.553,
"raw_ms": [
67.204,
70.008,
70.436,
71.432,
72.454,
72.503,
73.006,
73.12,
73.492,
73.971,
74.203,
74.358,
74.756,
74.816,
74.893,
75.536,
75.98,
76.049,
76.164,
76.25,
76.547,
76.669,
76.843,
77.268,
77.534,
77.658,
77.872,
78.149,
78.343,
78.377,
78.445,
78.483,
78.86,
78.863,
78.905,
79.048,
79.315,
79.857,
80.035,
80.041,
80.224,
80.602,
80.644,
80.677,
80.848,
81.061,
81.094,
81.155,
81.243,
81.384,
81.628,
81.679,
81.75,
82.117,
82.148,
82.363,
82.444,
82.511,
82.651,
82.828,
82.921,
83.371,
83.592,
83.894,
83.926,
84.386,
84.519,
84.608,
85.06,
85.078,
85.094,
85.26,
87.212,
87.744,
87.847,
88.098,
88.436,
88.461,
88.919,
89.553
]
},
"G_worst_batch": {
"p50": 37.139,
"p95": 46.06,
"p99": 52.215,
"max": 52.215,
"raw_ms": [
32.718,
33.447,
33.569,
33.692,
33.81,
34.236,
34.28,
34.475,
34.496,
34.746,
35.19,
35.392,
35.435,
35.564,
35.569,
35.669,
35.693,
35.734,
35.741,
35.812,
35.828,
35.934,
36.015,
36.036,
36.097,
36.144,
36.197,
36.205,
36.487,
36.637,
36.71,
36.775,
36.79,
36.83,
36.831,
36.885,
36.894,
36.903,
36.947,
37.122,
37.139,
37.154,
37.198,
37.225,
37.249,
37.478,
37.615,
37.617,
38.114,
38.164,
38.288,
38.637,
38.651,
38.724,
38.813,
39.108,
39.15,
39.848,
39.866,
39.946,
39.969,
39.992,
40.04,
40.28,
40.35,
40.697,
40.727,
40.893,
40.972,
41.029,
41.138,
41.479,
41.51,
41.711,
45.036,
45.784,
46.06,
48.597,
50.186,
52.215
]
}
}
}