perf+exp: gm_groups 只算特征 8 组（数值一致，features 10.4→7.1ms）；混合节奏负结论（执行反馈无提升）；浏览器部署 dag2 ONNX + fbGain/commit 参数（bench 刹车 47% 待调）；实时口径改为异步规划+tick

2026-10-20 12:38:56 +08:00
parent 3b748c811c
commit 79519b042c
7 changed files with 65 additions and 7 deletions
@@ -52,8 +52,10 @@ def features(kin, q, q_prev, T, R, prefix, prefix_len, sub, sub_flag, gm=None, x
    out.append(sd)
    out.append(sub_flag[:, None].to(dt))
    if gm is None:
-        gm = kin.gaps(q, GAP_CAP, xf)['gm']
-    out.append(torch.stack([gm[:, a * 7 + b].clamp(max=GAP_CAP) / GAP_CAP for a, b in GP], -1))
+        out.append(kin.gm_groups(q, GP, GAP_CAP) / GAP_CAP)   # 2026-10-20：只算特征用到的 8 组
+        gm = None
+    if gm is not None:
+        out.append(torch.stack([gm[:, a * 7 + b].clamp(max=GAP_CAP) / GAP_CAP for a, b in GP], -1))
    f = torch.cat(out, -1)
    assert f.shape[1] == F_DIM, f.shape
    return f