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

tests/policy_bench.cjs

@@ -14,7 +14,7 @@ const fs = require('fs'), path = require('path');
 const argv = process.argv.slice(2);
 const flag = k => argv.includes(k);
 const opt = k => { const i = argv.indexOf(k); return i >= 0 ? argv[i + 1] : null; };
-const VALOPT = new Set(['--out', '--nc-n', '--route-n', '--r8-n']);
+const VALOPT = new Set(['--out', '--nc-n', '--route-n', '--r8-n', '--fb', '--commit']);
 const pos = argv.filter((a, i) => !a.startsWith('--') && !(i > 0 && VALOPT.has(argv[i - 1])));
 const MODEL = pos[0] || path.join(__dirname, '../webapp/models/traj_policy.onnx');
 const SETS = (pos[1] || 'nc,route').split(',').concat(flag('--nc1000') ? ['nc1000'] : []);
@@ -71,7 +71,7 @@ const pct = (a, p) => { if (!a.length) return null; const s = a.slice().sort((x,
     for (let ci = 0; ci < cases.length; ci++) {
       const c = cases[ci];
       const R = mode === 'pose' ? c.R : null;
-      const r = new POL.Runner(S, infer, { seed: 1000 + ci, actScale: meta.act_scale || 1 });   // 2026-10-19：动作尺度随模型
+      const r = new POL.Runner(S, infer, { seed: 1000 + ci, actScale: meta.act_scale || 1, fbGain: +opt('--fb') || 0, commit: Math.max(1, +opt('--commit') || 3) });   // 2026-10-19：动作尺度随模型
       r.reset(c.q0); r.setGoal(c.T, R);
       let prev = c.q0.slice(), cf = 0, tLock = null;
       for (let k = 0; k < 500 && !r.done; k++) {