diag: H 段（老师 oracle 走 rollout / 前缀消融 / 子目标越过顶点规则 / 分轴与分类别指标）；训练：EMA、选模不落在 p_neq 预热、闭环分数选模、24000 步余弦、p_neq 0.5 + p_edge 0.1、子目标头切断抄输入、前缀/dq 增广；仿真：last 记真正提交的候选、碰撞与到达按每题时限、回放门禁读 pass+指纹并走 rollout；数据：动作标签按 1.25·STEP 归一化（act_scale 随 meta/ckpt/ONNX 传递，旧模型 1.0）、收回亏空结转、DAgger 带 qPrev 与起步速度、打包签名变更自动重打；ik-policy.js 同步（actScale、子目标规则、DLS 时清 lastPlan）；本机执行清单与 README 更新

2026-10-19 10:43:05 +00:00
parent 86323f1691
commit 406f180cab
31 changed files with 923 additions and 317 deletions
@@ -71,7 +71,7 @@ const pct = (a, p) => { if (!a.length) return null; const s = a.slice().sort((x,
    for (let ci = 0; ci < cases.length; ci++) {
      const c = cases[ci];
      const R = mode === 'pose' ? c.R : null;
-      const r = new POL.Runner(S, infer, { seed: 1000 + ci });
+      const r = new POL.Runner(S, infer, { seed: 1000 + ci, actScale: meta.act_scale || 1 });   // 2026-10-19：动作尺度随模型
      r.reset(c.q0); r.setGoal(c.T, R);
      let prev = c.q0.slice(), cf = 0, tLock = null;
      for (let k = 0; k < 500 && !r.done; k++) {