diff --git a/docs/experiment_round39_lenw0.3.json b/docs/experiment_round39_lenw0.3.json new file mode 100644 index 0000000..7ca9500 --- /dev/null +++ b/docs/experiment_round39_lenw0.3.json @@ -0,0 +1,75 @@ +{ + "config": { + "ckpt": "ml/runs/base_dag2_dag1/best.pt", + "samples": "ml/data/samples", + "tasks": null, + "split": "val", + "n": 256, + "K": 8, + "commit": 2, + "fb": 2.2, + "ki": 0.0, + "fb_scale": 0.0, + "fb_near": 0.2, + "fb_fallback": 0.0, + "kdecay": 0.9, + "kimax": 0.5, + "fb_every": 1, + "safety_try": 0, + "sel_w": 0.1, + "dls_safety": 1, + "fb_clear": 0.0, + "fb_cmin": 0.3, + "sub_refresh": 0, + "fb_block_gain": 0.5, + "dump": null, + "out": "docs/experiment_round39_lenw0.3.json", + "trace": null, + "select": "ep_len", + "replan": "empty", + "safety": 1, + "partial": 1, + "inc_cap": 1, + "gap_margin": 0.0, + "cert_batch": 0, + "steps": 1, + "z_scale": 1.0, + "len_w": 0.3, + "backoff": 0, + "max_sec": null, + "seed": 0, + "dls": "analytic", + "device": "cuda" + }, + "batch_size": 256, + "batch_seed_rule": "same seed per batch", + "checkpoint_sha256": "f7f686fd8ee92fb6948fbcc4ee954636065ad87bb54f661c4f8f575bc16c2ce1", + "tasks_sha256": "249bd93457825cda98c59e64d9a096d3473c69aeb3553de1dea6d9e56be71772", + "kin_fp": "2ebcbf17", + "act_scale": 1.0, + "metrics": { + "n": 256, + "n_ref": 256, + "success": 0.51953125, + "collision_free_success": 0.51953125, + "time_ok_1p3": 0.28515625, + "collision_rate": 0.0, + "collision_steps_mean": 0.0, + "travel_ratio_median": 2.6547701358795166, + "time_mean_s": 2.4798495769500732, + "brakes_mean": 20.00390625, + "start_fail": 0.0, + "goal_ratio_2s": 0.2706023156642914, + "err_fail_med": 208.01719665527344, + "err_success_med": 0.2188246101140976, + "dls_share": 0.62109375, + "time_budget": "teacher×2(≥3 s)", + "speed_ratio_p50": 1.0000016689300537, + "speed_ratio_p95": 1.0000101327896118, + "speed_ratio_max": 1.0000101327896118, + "over_vmax_rate": 0.0, + "accel_ratio_p95": 1.0000016689300537, + "accel_ratio_max": 1.0000101327896118 + }, + "simulation_wall_s": 340.16115129999525 +} diff --git a/docs/experiment_round39_lenw1.0.json b/docs/experiment_round39_lenw1.0.json new file mode 100644 index 0000000..16a515f --- /dev/null +++ b/docs/experiment_round39_lenw1.0.json @@ -0,0 +1,75 @@ +{ + "config": { + "ckpt": "ml/runs/base_dag2_dag1/best.pt", + "samples": "ml/data/samples", + "tasks": null, + "split": "val", + "n": 256, + "K": 8, + "commit": 2, + "fb": 2.2, + "ki": 0.0, + "fb_scale": 0.0, + "fb_near": 0.2, + "fb_fallback": 0.0, + "kdecay": 0.9, + "kimax": 0.5, + "fb_every": 1, + "safety_try": 0, + "sel_w": 0.1, + "dls_safety": 1, + "fb_clear": 0.0, + "fb_cmin": 0.3, + "sub_refresh": 0, + "fb_block_gain": 0.5, + "dump": null, + "out": "docs/experiment_round39_lenw1.0.json", + "trace": null, + "select": "ep_len", + "replan": "empty", + "safety": 1, + "partial": 1, + "inc_cap": 1, + "gap_margin": 0.0, + "cert_batch": 0, + "steps": 1, + "z_scale": 1.0, + "len_w": 1.0, + "backoff": 0, + "max_sec": null, + "seed": 0, + "dls": "analytic", + "device": "cuda" + }, + "batch_size": 256, + "batch_seed_rule": "same seed per batch", + "checkpoint_sha256": "f7f686fd8ee92fb6948fbcc4ee954636065ad87bb54f661c4f8f575bc16c2ce1", + "tasks_sha256": "249bd93457825cda98c59e64d9a096d3473c69aeb3553de1dea6d9e56be71772", + "kin_fp": "2ebcbf17", + "act_scale": 1.0, + "metrics": { + "n": 256, + "n_ref": 256, + "success": 0.52734375, + "collision_free_success": 0.52734375, + "time_ok_1p3": 0.2890625, + "collision_rate": 0.0, + "collision_steps_mean": 0.0, + "travel_ratio_median": 2.6718690395355225, + "time_mean_s": 2.463407516479492, + "brakes_mean": 19.3515625, + "start_fail": 0.0, + "goal_ratio_2s": 0.2807892858982086, + "err_fail_med": 205.99014282226562, + "err_success_med": 0.23181582987308502, + "dls_share": 0.62890625, + "time_budget": "teacher×2(≥3 s)", + "speed_ratio_p50": 1.0000016689300537, + "speed_ratio_p95": 1.0000101327896118, + "speed_ratio_max": 1.0000101327896118, + "over_vmax_rate": 0.0, + "accel_ratio_p95": 1.0000016689300537, + "accel_ratio_max": 1.0000101327896118 + }, + "simulation_wall_s": 368.1434382000007 +} diff --git a/docs/探索日志.md b/docs/探索日志.md index 1007a94..45092a1 100644 --- a/docs/探索日志.md +++ b/docs/探索日志.md @@ -52,6 +52,23 @@ 1. 新加的 `backoff` 指标一度在产物里根本没有——`ml/eval/eval_cl.py:run()` 的 `out` 是**自己显式列键**的，不是从 `rollout` 返回的字典通抄，所以我往 `res` 加的 `backoff_mean` 被无声丢掉。已改成从逐题 `per['backoff']` 汇总（`backoff_mean` + `reject_all_mean = backoff+brakes`，后者才是与"原来全拒次数"可比的量）。**教训：加指标要顺着输出链路走到底，别只改生产端。** 2. 停后台 GPU 作业时，`TaskStop` 之后 `bash` 脚本链会活下来并继续拉起下一个 python；而 `nvidia-smi --query-compute-apps` 在这台机器上列不出这些 python（只列 ShellHost/wallpaper32 之类），据此判断"卡已空"会误判。我第一次按 PID 杀子进程后，链条 30 秒后又起了一个新的 eval。第二次我按进程树杀，但**把父子关系读反了**（Windows 的 PPID 在父进程已死时是陈旧值），结果误杀了新链的第一臂。正确做法：重启前用命令行正则列出全量候选、数 python 个数确认单租户，重启后再数一次；杀之前先按 `StartTime` 判新旧。backoff 那一臂因此要补跑。 +## 行程惩罚 ep_len 三臂读数：时限变好，但行程比没降（轮次 39 续，负结论） + +- 同一 256 题、同 seed、都带 `--inc_cap 1`，只改 `select=ep_len --len_w`： + + | 臂 | 到达 | 时限内(≤1.3×老师) | 行程比(中位) | 刹车/题 | 成功题末态误差 | + |---|---|---|---|---|---| + | 对照（endpoint） | 0.5234 | 0.2656 | 2.6158 | 19.55 | 0.218 mm | + | len_w=0.1 | 0.5117 | 0.2695 | 2.6216 | 19.49 | 0.244 mm | + | len_w=0.3 | 0.5195 | 0.2852 | 2.6548 | 20.00 | 0.219 mm | + | len_w=1.0 | 0.5273 | **0.2891** | 2.6719 | 19.35 | — | + + （`docs/experiment_round39_lenw{0.1,0.3,1.0}.json`） +- **两条相反的结论**：① 时限内**单调变好**（0.2656→0.2891，+2.4 pp = 6 题），到达在噪声内（±0.4 pp）；② 但**行程比单调变差**（2.6158→2.6719）。 + ⇒ "候选地平线内的累计行程"并不是"实际执行行程"好的代理：罚它选出来的候选在**近端少过冲**（所以更快收住、时限内变好），但整段任务要更多次规划才能走完，累计行程反而涨。这条是我原先的假设被打掉，不是被确认。 +- 顺着这个读数，真正该罚的是**同一轴来回**而不是总长：已实现 `select='ep_waste'`，罚 `(1 − 同轴净位移/累计行程) × 当前误差`（乘当前误差是为了近端不压死进度项——上一版的形状问题正在这里）。三臂 `len_w=0.1/0.3/1.0` 排在 `ml/runs/_waste_sweep.sh`。 +- 换向率指标 `reverse_p50` 从这一批之后才会出现在产物里（前面的臂是在改动前加载的模块跑的），口径已与离线分解同分母，预期对照臂应复现 **23.5%** 量级——**对不上就要查口径，不能各自报各自的**。 + ## 换向率进了评估指标（轮次 39 续） - 分解既然指到"来回抖"，每个臂都要直接报这个数，不能每次回头读转储：`rollout` 里按轴记方向，`reverse_rate` = 同轴方向翻转的步数 / 活动步数（站住的步不重置方向，所以"停了再同向走"不算换向）；`eval_cl` 报 `reverse_p50`/`reverse_mean`。