ml: 第二轮审查 B-1~B-8 处置 + 一键训练控制台

- B-1 运行时投影护栏恢复 5 mm；老师轨迹按认证最小间隙 < 3 mm 剔除（stats/build_dataset，gapDrop）
- B-2 APG 端点+中点 hinge 取均值；B-3 check_r2 空匹配保护、5000×50000、分块 256，pass=false 时 prep 停下
- B-4 R7 按全部 B/C 题统计；B-5 r8 起点贴柱；B-7 pipeline r4（export_onnx --random，训练前测延迟）
- B-8 起步失败 ≤0.2%、column_gap 分块、pipefail、门禁结果先写 .tmp
- 训练控制台：ml/console.bat|sh → ml/monitor.py（开始/停止/进度/日志接口）+ monitor.html；
  pipeline.sh all 支持 FROM/TO，阶段状态写 ml/runs/pipeline.json（ml/pstate.py）；训练/APG 日志加 total、t
- 文档：README 一键运行与训练控制台；审查文档追加第三轮处置；方案余量决策与 R4 时点

ml/prep/build_dataset.cjs

@@ -25,10 +25,13 @@ const gauss = () => Math.sqrt(-2 * Math.log(rnd() + 1e-12)) * Math.cos(2 * Math.
 const hash = s => { let h = 2166136261; for (const c of s) h = Math.imul(h ^ c.charCodeAt(0), 16777619); return h >>> 0; };
 const X = [], Y = [], V = [], SG = [], TID = [], tasks = [];
 const lines = fs.readFileSync(IN, 'utf8').split('\n').filter(Boolean);
-let nAug = 0, nAugRej = 0;
+let nAug = 0, nAugRej = 0, nGapDrop = 0;
+/* 2026-10-18：认证最小间隙 < 3 mm 的老师轨迹不进训练集；噪声增广接受地板同步为 3 mm（原 1 mm）。 */
+const MIN_GAP_MM = +(process.env.MIN_GAP_MM || 3);
 for (const line of lines) {
   const r = JSON.parse(line);
   if (!r.keep) continue;
+  if (r.cert && r.cert.minGap != null && r.cert.minGap < MIN_GAP_MM) { nGapDrop++; continue; }   // 与 stats.cjs 同一过滤
   const tid = hash(r.id) & 0x7fffffff;
   const split = (hash(r.id + '#split') % 100) < 5 ? 'val' : 'train';
   const P = r.path;
@@ -43,7 +46,7 @@ for (const line of lines) {
     if (rnd() < 0.3) {
       const qn = q.map((v, j) => { let x = v + gauss(); const t2 = L[O[j]]; if (!t2.cont) x = Math.max(t2.lo, Math.min(t2.hi, x)); return x; });
       nAug++;
-      if (S.collideFree(qn) && S.clearance(qn, 5) > 1) { off = qn.map((v, j) => v - q[j]); q = qn; qPrev = qPrev.map((v, j) => v + off[j]); aug = true; }
+      if (S.collideFree(qn) && S.clearance(qn, 5) > MIN_GAP_MM) { off = qn.map((v, j) => v - q[j]); q = qn; qPrev = qPrev.map((v, j) => v + off[j]); aug = true; }
       else nAugRej++;
     }
     const pos = k => { const i = Math.min(N, t + k); const w = aug ? Math.max(0, 1 - k / 8) : 0; return traj[i].map((v, j) => v + off[j] * w); };
@@ -72,4 +75,4 @@ writeNpy(path.join(OUTDIR, base + '.V.npy'), Float32Array.from(V), [n]);
 writeNpy(path.join(OUTDIR, base + '.SG.npy'), cat(SG, 13), [n, 13]);
 writeNpy(path.join(OUTDIR, base + '.TID.npy'), TID, [n], 'int32');
 fs.writeFileSync(path.join(OUTDIR, base + '.tasks.jsonl'), tasks.map(t => JSON.stringify(t)).join('\n') + '\n');
-console.log(JSON.stringify({ shard: base, tasks: tasks.length, samples: n, aug: nAug, augRejected: nAugRej, featVer: POL.FEAT_VER }));
+console.log(JSON.stringify({ shard: base, tasks: tasks.length, samples: n, aug: nAug, augRejected: nAugRej, gapDrop: nGapDrop, featVer: POL.FEAT_VER }));