exp+fix: 轮次31——确定界连续认证抓到段内碰撞，但单段P50 22.9ms进不了20ms；自适应cap收益经交错复测撤回
- Kin.cert_lever 用三角不等式给全姿态位移界（替代 JS 随机采样×1.05），界量级 5.93–48.86 mm/整步 - Kin.certify_segments 批量前沿二分+每根查询预算：48 固定段中预算32判安全37/碰撞1/未知拒10， 第180题1.08–1.10s漏检段以5次查询判碰撞；未知只拒不放 - 修 seg_seg_dist 第二条退化成点不投影（模型内退化胶囊686受影响）；但7586个加密点的组最小间隙 逐位不变、2000样本JS对拍仍 PASS → 不解释轮次30漏检、不改既有成绩 - 负结论：B=1 单段认证 P50 22.93/P90 58.43/P99 101.57 ms，432次中225次>20ms； 自适应宽相位 cap 交错复测耗时无收益，先前1.6×为GPU顺序漂移，已在日志撤回 - 成本模型 L=ceil(log2(bound/(ga+gb)))、查询=2^L+1 与实测对齐（安全段2–17次，未知段33–65次） - 新增8项段认证测试+1项回放测试（14→23项通过）；变异实测证明张量 max_depth 回绕会误放行
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},
|
||||
{
|
||||
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|
||||
"start_it": 0,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 1.0839,
|
||||
"endpoint_gap_sum_mm": 6.87225,
|
||||
"levels_needed": 0,
|
||||
"queries_needed": 2,
|
||||
"queries_used_batch32": 2
|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 3.3325,
|
||||
"endpoint_gap_sum_mm": 0.50053,
|
||||
"levels_needed": 3,
|
||||
"queries_needed": 9,
|
||||
"queries_used_batch32": 29
|
||||
},
|
||||
{
|
||||
"i": 197,
|
||||
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|
||||
"status": "unresolved",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 5.7899,
|
||||
"endpoint_gap_sum_mm": 0.16354,
|
||||
"levels_needed": 6,
|
||||
"queries_needed": 65,
|
||||
"queries_used_batch32": 17
|
||||
},
|
||||
{
|
||||
"i": 197,
|
||||
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|
||||
"status": "safe",
|
||||
"tight_group_pair": 5,
|
||||
"bound_pair_mm": 18.6183,
|
||||
"endpoint_gap_sum_mm": 5.55945,
|
||||
"levels_needed": 2,
|
||||
"queries_needed": 5,
|
||||
"queries_used_batch32": 11
|
||||
},
|
||||
{
|
||||
"i": 215,
|
||||
"start_it": 0,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 2.4256,
|
||||
"endpoint_gap_sum_mm": 12.47554,
|
||||
"levels_needed": 0,
|
||||
"queries_needed": 2,
|
||||
"queries_used_batch32": 2
|
||||
},
|
||||
{
|
||||
"i": 215,
|
||||
"start_it": 104,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 4.7208,
|
||||
"endpoint_gap_sum_mm": 14.00267,
|
||||
"levels_needed": 0,
|
||||
"queries_needed": 2,
|
||||
"queries_used_batch32": 2
|
||||
},
|
||||
{
|
||||
"i": 215,
|
||||
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|
||||
"status": "unresolved",
|
||||
"tight_group_pair": 6,
|
||||
"bound_pair_mm": 25.7963,
|
||||
"endpoint_gap_sum_mm": 1.07014,
|
||||
"levels_needed": 5,
|
||||
"queries_needed": 33,
|
||||
"queries_used_batch32": 30
|
||||
},
|
||||
{
|
||||
"i": 215,
|
||||
"start_it": 215,
|
||||
"status": "safe",
|
||||
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|
||||
"bound_pair_mm": 9.2152,
|
||||
"endpoint_gap_sum_mm": 8.57509,
|
||||
"levels_needed": 1,
|
||||
"queries_needed": 3,
|
||||
"queries_used_batch32": 3
|
||||
},
|
||||
{
|
||||
"i": 224,
|
||||
"start_it": 0,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 6.492,
|
||||
"endpoint_gap_sum_mm": 10.02154,
|
||||
"levels_needed": 0,
|
||||
"queries_needed": 2,
|
||||
"queries_used_batch32": 2
|
||||
},
|
||||
{
|
||||
"i": 224,
|
||||
"start_it": 52,
|
||||
"status": "unresolved",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 3.5989,
|
||||
"endpoint_gap_sum_mm": 0.12354,
|
||||
"levels_needed": 5,
|
||||
"queries_needed": 33,
|
||||
"queries_used_batch32": 32
|
||||
},
|
||||
{
|
||||
"i": 224,
|
||||
"start_it": 61,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 2.7788,
|
||||
"endpoint_gap_sum_mm": 0.78961,
|
||||
"levels_needed": 2,
|
||||
"queries_needed": 5,
|
||||
"queries_used_batch32": 5
|
||||
},
|
||||
{
|
||||
"i": 224,
|
||||
"start_it": 127,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 1.4884,
|
||||
"endpoint_gap_sum_mm": 7.29024,
|
||||
"levels_needed": 0,
|
||||
"queries_needed": 2,
|
||||
"queries_used_batch32": 2
|
||||
},
|
||||
{
|
||||
"i": 255,
|
||||
"start_it": 0,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 1.5332,
|
||||
"endpoint_gap_sum_mm": 11.184,
|
||||
"levels_needed": 0,
|
||||
"queries_needed": 2,
|
||||
"queries_used_batch32": 2
|
||||
},
|
||||
{
|
||||
"i": 255,
|
||||
"start_it": 25,
|
||||
"status": "unresolved",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 2.9831,
|
||||
"endpoint_gap_sum_mm": 0.14423,
|
||||
"levels_needed": 5,
|
||||
"queries_needed": 33,
|
||||
"queries_used_batch32": 29
|
||||
},
|
||||
{
|
||||
"i": 255,
|
||||
"start_it": 50,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 4,
|
||||
"bound_pair_mm": 7.2365,
|
||||
"endpoint_gap_sum_mm": 0.61112,
|
||||
"levels_needed": 4,
|
||||
"queries_needed": 17,
|
||||
"queries_used_batch32": 25
|
||||
},
|
||||
{
|
||||
"i": 255,
|
||||
"start_it": 181,
|
||||
"status": "safe",
|
||||
"tight_group_pair": 18,
|
||||
"bound_pair_mm": 4.2961,
|
||||
"endpoint_gap_sum_mm": 0.74979,
|
||||
"levels_needed": 3,
|
||||
"queries_needed": 9,
|
||||
"queries_used_batch32": 12
|
||||
}
|
||||
]
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,24 @@
|
||||
{
|
||||
"baseline_commit": "95da491",
|
||||
"poses": "first 64 existing parity poses",
|
||||
"n_poses": 64,
|
||||
"kin_fp": "2ebcbf17",
|
||||
"dtype": "float64",
|
||||
"degenerate_capsules": [
|
||||
686
|
||||
],
|
||||
"pairs_with_second_degenerate": 670,
|
||||
"evaluated_pairs": 42880,
|
||||
"changed_pairs_over_1e_8": 20661,
|
||||
"old_minus_new_min_mm": 0.0,
|
||||
"old_minus_new_max_mm": 86.00309853133399,
|
||||
"new_reverse_max_abs_mm": 0.0,
|
||||
"worst": {
|
||||
"pose": 29,
|
||||
"first_capsule": 430,
|
||||
"second_capsule": 686,
|
||||
"old_distance_mm": 493.354753665718,
|
||||
"new_distance_mm": 407.35165513438403
|
||||
},
|
||||
"scope": "Raw capsule distances; does not imply these pairs win the group minimum."
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
{
|
||||
"baseline_commit": "95da491",
|
||||
"sample_source": "docs/experiment_round31_certificates.json",
|
||||
"segments": 48,
|
||||
"dense_points": 7586,
|
||||
"max_step_deg": 0.01,
|
||||
"cap_mm": 0.5,
|
||||
"dtype": "float64",
|
||||
"device": "cuda",
|
||||
"kin_fp": "2ebcbf17",
|
||||
"max_group_gap_difference_mm": 0.0,
|
||||
"group_gaps_changed_over_1e_8": 0,
|
||||
"minimum_gaps_changed_over_1e_8": 0,
|
||||
"collision_bool_mismatches": 0,
|
||||
"wall_s": 4.18259759999637
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
{
|
||||
"n": 2000,
|
||||
"fk_max_abs_mm": 4.547473508864641e-13,
|
||||
"orient_max_abs": 3.3306690738754696e-16,
|
||||
"gap_max_abs_mm": 2.5224267119483557e-13,
|
||||
"collide_bool_mismatch": 0,
|
||||
"feat_max_abs": 5.960463655974024e-08,
|
||||
"grad_rel_err_max": 1.8474076070450906e-06,
|
||||
"PASS": true
|
||||
}
|
||||
@@ -582,6 +582,27 @@
|
||||
- **新增硬约束证据**：before/after 两组256题实际轨迹都出现超速，最大 **1.660004×VMAX**（来源是动作限幅后叠加0.3×gain2.2反馈）。实际各轴最大速度约 `[99.600,99.600,149.400,149.400,199.200,298.800]°/s`，并非只看原始指令推测。行程仍约参考2.425倍；速度、加速度和真实控制时延均未达部署验收。历史 `travel` 累积的是指令而非夹紧后位移，本轮已同时列出实际轨迹重算值，不悄悄换分母。
|
||||
- **结论与下一步**：逐步限位一致性修复有效，未牺牲本批到达率；但加密审计仍检出段内碰撞，**不能部署、不能宣称零碰撞或50 Hz合格**。下一轮先验证更强的段内认证，再单独评估反馈后的速度/加速度约束与真实端到端调度；每次保持小样本单变量对照，继续保留失败证据。
|
||||
|
||||
## 轮次 31：连续段认证的确定界与成本实测（exp: `exp/dagger-deploy`，判据变强，实测进不了 20 ms）
|
||||
|
||||
- **假设与判据**：轮次 30 的端点/中点检查漏掉段内碰撞（第180题 1.08–1.10 s，段内 −0.14927 mm，端点/中点均正）。若用可证明的全姿态运动界对整段做 Lipschitz 判据，应当(a) 在同一个漏检段上给出碰撞或拒绝，(b) 预算不足时只会拒绝而不会放行，(c) 不放宽 `>0` 判据。判据失败或耗时超预算都算负结论，必须实测不能外推。
|
||||
- **确定界替代随机采样界**：JS 侧 `leverTable(4000)`/`leverBounds(20000)` 是随机姿态最大值再 ×1.05，不是全姿态上界。本轮按三角不等式给闭式界：组 g 的胶囊端点到关节 k(<g) 的最大位移 = (Σ_{j=k}^{g-2}‖P[j+1]−P[j]‖ + max_e‖e−P[g−1]‖)·|Δq_k|（k=g−1 时末项换成端点到该轴的垂直距离），组对 (ga,gb) 只累加 ga..gb−1，取组内最小仍保留 Lipschitz 性质。Python 端 `Kin.cert_lever`（15×6）即此表，未改 `lever`，也未改 JS。
|
||||
- **界的量级**（STEP=[1.2,1.2,1.8,1.8,2.4,3.6]°）：单整步在各组对上的位移界 **5.93–48.86 mm**，0 层通过要求端点间隙之和 > 界，即单端间隙至少 3.0–24.4 mm。实际执行段的间隙普遍只有 0.001–0.5 mm，所以“必须细分”是结构性的，不是实现缺陷。
|
||||
- **基础求距 bug 与影响范围**：模型里有 1 个退化胶囊（索引 686，组 3）。旧 `seg_seg_dist` 在第二条线段退化成点时固定取该点为第二条起点，没把点投影到第一条线段上——[0,2] 段对点 1 的实测距离旧值 1 mm、反向调用约 1e−9 mm、真值 0。修复后在已有 2000 个对拍姿态的前 64 个姿态上，670 个“退化胶囊作第二条”的细对里 **20661/42880 个距离变小（旧值偏大，最大 86.003 mm）**，正反调用一致。但这批变化没有进入判定：把轮次 30 修复后 48 段的 7586 个 0.01° 加密点分别用修复前(95da491)与修复后内核重算，**组最小间隙逐位相同（最大差 0.0 mm）、碰撞布尔差 0**；`python -m ml.eval.check_parity` 仍 PASS（2000 样本，fk 4.55e−13 mm、间隙 2.52e−13 mm、特征 5.96e−08、梯度相对误差 1.85e−06、碰撞布尔差 0）。即这轮修复是正确的，但不解释轮次 30 的漏检，也不改变既有成绩。
|
||||
- **认证实现**：`Kin.certify_segments` 为 float64 批量前沿二分，每根段独立查询预算，端点间隙用 `min(gap,cap)` 故钳制只会更保守；判据 `ga+gb > bound+2eps` 且两端 >eps，任一子段碰撞即整根判碰撞；超深度、超预算、非有限间隙、越出关节盒一律拒绝（`unresolved`/`outside_box`），不放行未知。宽相位 cap 可按本层界收到 `bound/2+eps`（`adaptive_cap`）。**尚未接入 rollout，未改查看器默认。**
|
||||
- **48 段固定样本**（`docs/experiment_round31_certificates.json`，沿用轮次 30 的 12 题，每题取首/中/末移动段 + 原证书最小间隙段 + 显式指定 180:54；cap=20、eps=1e−4、max_depth=12）：
|
||||
| 每根查询预算 | 判安全 | 判碰撞 | 未知拒绝 | 查询数 p50/max |
|
||||
|---|---|---|---|---|
|
||||
| 2 | 20 | 0 | 28 | 2 / 2 |
|
||||
| 8 | 26 | 1 | 21 | 4 / 8 |
|
||||
| 32 | 37 | 1 | 10 | 4 / 32 |
|
||||
- 已知漏检段（180 题执行段 54）**判碰撞，仅用 5 次查询**；该段原证书 `certified=true`、原内部 `col=0`。48 段里 0.01° 加密采样检出碰撞 1 段，认证接受该类段 **0 段**；整批与逐根调用结果逐位一致。
|
||||
- 拒绝不等于安全：预算 2 时 28 段全部落 `unresolved`，实现不会把未知当通过。
|
||||
- **成本模型对上实测**（`docs/experiment_round31_cert_cost_model.json`）：按最紧组对的界，所需层数 `L=ceil(log2(bound_pair/(ga+gb)))`、查询数 `2^L+1`。37 个判安全段需要 2–17 次（L=0..4），10 个未知段需要 **33 或 65 次**（L=5..6），与预算 32 恰好卡在中间一致；碰撞段因提前撞到负间隙只用 5 次。结论：认证成本由 `bound/间隙` 的对数决定，**降低界或提高间隙余量**才是可行杠杆，加预算只是线性买单。
|
||||
- **耗时负结论**（CUDA float64、B=1、驻留输入、每段4次预热+9次计时、变体按段交错，`docs/experiment_round31_adaptive_cap.json`）：单段认证 **P50 22.93 ms、P90 58.43 ms、P99 101.57 ms，432 次里 225 次 > 20 ms**；自适应 cap 交错重测 P50 23.21 ms、P99 99.10 ms，**决策完全相同、耗时无收益**。先前顺序测得的“1.6×、整批 72→14.8 ms”经交错复测判定为 GPU 时钟/顺序漂移，不作为结论（48 根整批复测 260→212 ms 仍受同一偏差影响，且部署不会出现 48 根同时认证）。因此**连续认证按当前实现不能进 20 ms，更不能宣称 50 Hz**。
|
||||
- **回归与判据灵敏度**：`python -m unittest tests.test_eval_cl` **23 项通过**（轮次 30 为 14 项）。新增段认证 8 项覆盖：薄障碍段内碰撞被界抓到而清晰段被接受、预算/深度耗尽只拒不放、恒间隙合成段上预算 4/8/9 对应查询 3/5/9（验证细分层数与查询数的解析关系）、批量与逐根及乱序一致、空批与全拒前沿、NaN/±Inf 间隙拒绝、越界拒绝、退化距离对称性与梯度。**变异实测**：把类型门去掉后 `max_depth=torch.tensor(255,dtype=torch.uint8)` 会回绕成 `range(0)`、整段判据被跳过，真实间隙 −0.05 mm 的段直接返回 `safe=true`；加门后同一调用报 `certification budgets must be plain ints`。这是本轮抓到的第二个误放行路径（第一个是轮次 30 的未夹紧认证）。
|
||||
- **口径与边界**：认证只在 float64 下进行，浮点求距误差没有形式上界（`seg_seg_dist` 距离下限约 1e−9 mm），eps=1e−4 mm 是工程容差不是证明；48 段取自轮次 30 修复后的执行轨迹，是固定样本不是新策略闭环；连续认证未接入 rollout，实际执行仍走端点/中点离散检查；速度/加速度超限（轮次 30 实测最大 1.66×VMAX）本轮未处理。
|
||||
- **结论与下一步**：判据确实变强（抓到离散检查漏掉的段内碰撞、未知只拒不放），但成本与 `bound/间隙` 的对数绑定，**当前实现不能部署，也不得把“认证通过”说成零碰撞**。下一步两条：(1) 把逐层依赖的二分改成**一次均匀细分**（固定层数、单个 gaps 调用覆盖全部子段），其实时可行性取决于几何查询成本随批大小是否近似平坦；(2) 把余量要求移到规划/速度侧——实际轨迹贴着 0.001–0.02 mm 间隙走，任何认证方案都会退化成几十次查询，而反馈叠加后的速度约束本来就是未完成项。
|
||||
|
||||
## 分支清理（2026-10-20）
|
||||
|
||||
- `feat/fb-mix`（8e5431c）：反馈混合方案的中间分支，**已验证是 `exp/dagger-deploy` 的祖先**（所有提交都在后者历史里），本地/远端分支删除，内容保留在 exp/dagger-deploy。
|
||||
|
||||
Reference in New Issue
Block a user