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
@@ -55,7 +55,7 @@ async function boot() {
    }
    if (!sess) sess = await ort.InferenceSession.create(MODEL, { executionProviders: ep, graphOptimizationLevel: 'all' });
    const infer = ArmPolicy.ortInfer(ort, sess, { encOnce: !!meta.enc_once, featDyn: !!meta.feat_dyn });
-    runner = new ArmPolicy.Runner(S, infer, {});
+    runner = new ArmPolicy.Runner(S, infer, { actScale: meta.act_scale || 1 });   // 2026-10-19：动作尺度随模型（旧模型无此字段 = 1）
    /* 预热：首次推理有编译开销 */
    await infer(new Float32Array(8 * ArmPolicy.F_DIM), new Float32Array(8 * ArmPolicy.H * 6), 8);
    const tick = URL.createObjectURL(new Blob(['let h=null;onmessage=e=>{clearInterval(h);if(e.data>0)h=setInterval(()=>postMessage(0),e.data)}'], { type: 'text/javascript' }));