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第八轮：monitor 状态三项被注释吞掉的 bug；R9 改判稳态 planWarmP99 + 运动中饥饿 + 认证超时占比；APG steps 8000（batch 48 保持总任务量）；r4 不再静默退回 CDN；自检副本含未跟踪文件；显存文案按 19–20 GB；审查文档精简为实测/判据/待数据/三段训练

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Hark
2026-10-18 06:34:22 +08:00
committed by cbb
parent 466a71ecea
commit 34f19aac61
14 changed files with 81 additions and 298 deletions
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tests/policy_bench.cjs
+3 -3
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@@ -67,7 +67,7 @@ const pct = (a, p) => { if (!a.length) return null; const s = a.slice().sort((x,
const out = { model: MODEL, meta: { fp: meta.fp, eval: meta.eval } };
const runSet = async (name, cases, mode) => {
let ok = 0, reached = 0, colTasks = 0, colFrames = 0, uncert = 0, brakes = 0, locks = 0, plans = 0, recovered = 0, lockTasks = 0, livelock = 0;
const inf = [], saf = [], look = [], planT = [], cq = [], times = [], fails = []; let hits = 0; const why = {};
const inf = [], saf = [], look = [], planT = [], planW = [], cq = [], times = [], fails = []; let hits = 0; const why = {};
for (let ci = 0; ci < cases.length; ci++) {
const c = cases[ci];
const R = mode === 'pose' ? c.R : null;
@@ -86,7 +86,7 @@ const pct = (a, p) => { if (!a.length) return null; const s = a.slice().sort((x,
const { e, oe } = r.err(r.q);
const rc = r.done && e < 1 && oe < 0.5;
if (rc) reached++; if (cf) { colTasks++; colFrames += cf; } if (rc && !cf) { ok++; times.push(r.t); } else fails.push({ ci, err: +e.toFixed(1), oerr: +oe.toFixed(1), colFrames: cf, brakes: r.stats.brakes });
inf.push(...r.stats.inferMs); saf.push(...r.stats.safetyMs); look.push(...r.stats.lookaheadMs); planT.push(...r.stats.planMs); cq.push(...r.stats.certQ); hits += r.stats.certHit;
inf.push(...r.stats.inferMs); saf.push(...r.stats.safetyMs); look.push(...r.stats.lookaheadMs); planT.push(...r.stats.planMs); planW.push(...r.stats.planWarmMs); cq.push(...r.stats.certQ); hits += r.stats.certHit;
for (const k in r.stats.certWhy) why[k] = (why[k] || 0) + r.stats.certWhy[k]; brakes += r.stats.brakes; locks += r.stats.locks; plans += r.stats.plans;
if (tLock != null) { lockTasks++; if (rc && !cf && r.t - tLock <= 3.0) recovered++; } else if (rc && !cf) recovered++;
if (!rc && r.stats.locks >= 2) livelock++;
@@ -96,7 +96,7 @@ const pct = (a, p) => { if (!a.length) return null; const s = a.slice().sort((x,
plans, brakeRate: plans ? +(brakes / plans).toFixed(4) : null, lockTasks, recovered3s: recovered, recoveryRate: cases.length ? +(recovered / cases.length).toFixed(4) : null, livelock,
timeP50: pct(times, 0.5), inferMsP50: pct(inf, 0.5), inferMsP99: pct(inf, 0.99), safetyMsP50: pct(saf, 0.5), safetyMsP99: pct(saf, 0.99),
// 2026-10-18 第六轮（审查 B-1/B-2）：前瞻、整次规划耗时，每次规划的距离查询数与记忆命中率，认证失败原因——与查看器 autotest 同口径对照
lookaheadMsP99: pct(look, 0.99), planMsP50: pct(planT, 0.5), planMsP99: pct(planT, 0.99), certQueriesP50: pct(cq, 0.5), certQueriesP99: pct(cq, 0.99),
lookaheadMsP99: pct(look, 0.99), planMsP50: pct(planT, 0.5), planMsP99: pct(planT, 0.99), planWarmMsP99: pct(planW, 0.99), certQueriesP50: pct(cq, 0.5), certQueriesP99: pct(cq, 0.99),
certMemoHitRate: (() => { const q = cq.reduce((a, b) => a + b, 0); return q + hits ? +(hits / (q + hits)).toFixed(3) : null; })(), certFailWhy: why, fails: fails.slice(0, 15) };
console.error(name, JSON.stringify({ ok, n: cases.length, collisionFrames: colFrames }));
};