exp: 轮次33——限幅实测要付5.1pp到达（57.4→52.3%）；GPU真实周期36.7ms≈27Hz，瓶颈是重复几何而非推理

- 四组单变量对照（同256题同seed）：base / inc_cap / gap_margin 0.5 / 两者同开
  限幅后 到达 0.5742→0.5234、time_ok 0.3906→0.2656、2s误差比 0.210→0.279、超VMAX 1.0→0.0、刹停几乎不变
  → 之前那部分到达率是超速换来的；损失在逼近末段，不在刹停
- 0.5mm 余量门只付 3 题（0.5742→0.5625）；但 plans['gaps'] 在 0.5mm 截顶，5mm 护栏可达性需抬 cap 重算
- 前提更正：eval_cl 不传 steps、rollout 默认 steps=1（policy.py:156 一步生成），先前按 steps=16 得到的
  "当前配方 116ms≈8.6Hz" 作废；真实配方 36.68ms P50 / 49.17ms P99 ≈ 27.3Hz
- 归因更正：空算子 0.028ms、空 sync 0.005ms、encode 2.27ms → 不是启动/同步地板；
  单步推理仅 7.2ms 且 K=1→8 免费，周期里 ~27ms 是 cum_xf+宽相位的重复计算
- certify_uniform 挂上后 36.7→45.3ms（n=8）/49.6ms（n=16）
- kin_torch 补 a/b 形状守卫（脚本里广播不一致会算错 view），测试 30→31 项

docs/experiment_round33_gpu_cycle.json

@@ -0,0 +1,202 @@
+{
+  "device": "NVIDIA GeForce RTX 3090",
+  "torch": "2.10.0+cu130",
+  "act_scale": 1.0,
+  "cfg": {},
+  "B": 1,
+  "commit_n": 2,
+  "fp64_note": "3090 fp64 \u541e\u5410\u7ea6 fp32 \u7684 1/54\uff1b\u8ba4\u8bc1\u76ee\u524d\u8981\u6c42 fp64",
+  "inference": {
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+      "p99": 10.766,
+      "max": 11.109,
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+    },
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+    },
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+    },
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+    },
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+    },
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+    },
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+  },
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+  },
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+  },
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+  },
+  "f32_vs_f64": {
+    "points": 3,
+    "max_abs_err_mm": 0.0,
+    "sign_flips": 0
+  }
+}