exp: 轮次33(上)——实际执行速度做成一等指标并自证；默认路径逐位复现第30轮，256题全部超VMAX

- rollout 逐题记录 max|Δq|/STEP（1.0=VMAX）与每步速度变化比；eval_cl 汇总 p50/p95/max、over_vmax_rate
- 自证：用 round30_after trace 独立重算得 1.660004×VMAX、超速度占比 1.0，与新指标逐位一致
- 默认参数下 base 复现第30轮 after 的每个旧指标（0.57421875/0.390625/19.25/2.444952726/0.209975064 等）
- 新开关 inc_cap（反馈叠加后再按每轴 VMAX·DT 限幅）、gap_margin（余量门限+自动抬宽相位 cap，
  否则现 cap=0.5 会让 >0.5 的余量恒假）；col 仍按 gap<=0 判真实碰撞，不与余量混用
- 只读核查：ik-policy.js:355 同样在 ±1·STEP 之后叠加反馈；JS 的 5 mm 余量是投影式护栏，非同机制
- 口径提醒：round30 plans['gaps'] 在 cap=0.5 截顶，不能据此算"≥1mm 占比"；中位最小间隙 0.046 mm 可用
- 测试 26→30 项（限幅灵敏度、余量拒/受、cap 抬升生效）

tests/test_eval_cl.py

@@ -27,6 +27,7 @@ class EvalMetricsTest(unittest.TestCase):
             'travel': [6.0, 0.0, 8.0], 'brakes': [2.0, 4.0, 6.0],
             'start_fail': [False, True, False], 'goal_ratio_2s': [0.3, 0.9, 0.1],
             'err': [0.2, 200.0, 0.8], 'dls_it': [4, -1, 20],
+            'speed_ratio': [1.66, 0.9, 1.2], 'accel_ratio': [0.3, 0.2, 0.5],
         }.items()}
 
     def evaluate(self, tasks, bs=2, **kw):
@@ -53,6 +54,12 @@ class EvalMetricsTest(unittest.TestCase):
         self.assertAlmostEqual(result['goal_ratio_2s'], 0.3, places=6)
         self.assertEqual(result['err_fail_med'], 200.0)
         self.assertEqual(result['brakes_mean'], 4.0)
+        # 极值/分位按逐题值跨批汇总，不能进按 n 加权求均值的批聚合
+        self.assertAlmostEqual(result['speed_ratio_p50'], 1.2, places=6)
+        self.assertAlmostEqual(result['speed_ratio_p95'], 1.614, places=6)
+        self.assertAlmostEqual(result['speed_ratio_max'], 1.66, places=5)
+        self.assertAlmostEqual(result['over_vmax_rate'], 2 / 3, places=6)   # 1.66 与 1.2 都算超 VMAX，0.9 不算
+        self.assertAlmostEqual(result['accel_ratio_max'], 0.5, places=6)
 
     def test_empty_conditional_metrics_and_explicit_limit(self):
         task = {**self.tasks[0], 'exec_s': None, 'travel': None}
@@ -550,5 +557,59 @@ class SegmentCertificateTest(unittest.TestCase):
                                    (p.detach() - point).norm(dim=-1), atol=1e-8, rtol=0)
 
 
+class SpeedAndMarginTest(unittest.TestCase):
+    """轮次33：反馈叠加后的每轴速度限幅，以及安全层的正余量门限（含 cap 截顶坑）。"""
+    STEP = [1.2, 1.2, 1.8, 1.8, 2.4, 3.6]
+
+    def rollout_one(self, teacher_step, gap_value, fb=None, **kwargs):
+        class FlatKin:
+            def clamp_box(self, q):
+                return q
+
+            def gaps(self, q, cap):
+                return {'gm': torch.full((q.shape[0], 49), float(gap_value))}
+
+        commit_n = 2
+        traj = torch.zeros(1, commit_n + 1, 6)
+        traj[0, 1:] = torch.tensor(teacher_step)[None].repeat(commit_n, 1).cumsum(0)   # teacher_step = 每步各轴的度数增量
+        patches = {
+            'features': lambda *args: torch.zeros(1, 83),
+            'goal_err': lambda kin, q, T, R: (torch.full((q.shape[0],), 10.0), torch.zeros(q.shape[0])),
+        }
+        with patch.multiple('ml.sim.closed_loop', **patches):
+            with patch('ml.sim.closed_loop.dls_steps', return_value=torch.tensor([[[1.0, 0, 0, 0, 0, 0]]])):
+                _, per = rollout(None, FlatKin(), [{'q0': [0] * 6, 'T': [10, 0, 0]}], 'cpu', K=1, safety=True,
+                                 max_sec=0.02 * commit_n, return_traj=True, use_sub=False, select='first',
+                                 oracle=TeacherOracle(traj), replan='empty', commit_n=commit_n,
+                                 **kwargs)
+        return per
+
+    def test_feedback_over_speed_is_measured_not_assumed(self):
+        # 策略给满 STEP（J1 +1.2°）+ 2.2×1.0° 反馈 = 3.4° > VMAX·DT
+        per = self.rollout_one([1.2, 0, 0, 0, 0, 0], 5.0, fb_gain=2.2)
+        self.assertAlmostEqual(per['traj'][0, 1, 0].item(), 3.4, places=5)
+        self.assertAlmostEqual(per['speed_ratio'][0].item(), 3.4 / 1.2, places=5)
+
+    def test_inc_cap_limits_actual_step_to_vmax(self):
+        per = self.rollout_one([1.2, 0, 0, 0, 0, 0], 5.0, fb_gain=2.2, inc_cap=1)
+        self.assertAlmostEqual(per['traj'][0, 1, 0].item(), 1.2, places=5)
+        self.assertLessEqual(per['speed_ratio'][0].item(), 1.0 + 1e-6)
+
+    def test_margin_rejects_near_obstacle_step_that_passes_at_zero(self):
+        moved = self.rollout_one([0.5, 0, 0, 0, 0, 0], 0.3, safety_partial=1)
+        self.assertAlmostEqual(moved['traj'][0, -1, 0].item(), 1.0, places=5)
+        self.assertEqual(moved['brakes'].item(), 0.0)
+        braked = self.rollout_one([0.5, 0, 0, 0, 0, 0], 0.3, gap_margin=0.5, safety_partial=1)
+        self.assertEqual(braked['brakes'].item(), 1.0)
+        torch.testing.assert_close(braked['traj'], torch.zeros(1, 3, 6), rtol=0, atol=0)
+
+    def test_margin_below_cap_still_accepts_clear_step(self):
+        # 余量 0.5 必须仍能通过 5 mm 间隙：若宽相位 cap 没抬到 margin+0.5，截顶值 0.5 会让门限恒假
+        per = self.rollout_one([0.5, 0, 0, 0, 0, 0], 5.0, gap_margin=0.5, safety_partial=1)
+        self.assertEqual(per['brakes'].item(), 0.0)
+        self.assertAlmostEqual(per['traj'][0, -1, 0].item(), 1.0, places=5)
+        self.assertTrue((per['plans']['gaps'] > 0.5).all().item())
+
+
 if __name__ == '__main__':
     unittest.main()