ml: 全流程代码与运行手册（数据打包/可微运动学与对拍/MeanFlow+WTA 模型/训练/闭环仿真/APG/挖错循环/ONNX 导出）；webapp 策略运行时 ik-policy.js + ?policy=1 接入；tests/policy_bench.cjs；ik-solver 增 pairList/clusterExport/criticalPairs/pairGap/leverTable

2026-10-17 15:48:19 +00:00
parent 7e70c4e811
commit 8bfe9bc083
50 changed files with 2677 additions and 172 deletions
@@ -0,0 +1,10 @@
+{
+  "apg": {
+    "batch": 128, "lr": 1e-4, "steps": 3000, "grad_clip": 1.0, "amp": "bf16",
+    "plans": 60, "seg_plans": 10,
+    "margin_train_mm": 5.0,
+    "w_tgt": 1.0, "w_rot": 0.3, "w_col": 2.0, "w_smooth": 0.02, "w_len": 0.001, "w_bc": 0.5,
+    "cat_weights": {"A": 0.4, "B": 1.0, "C": 1.6, "D": 0.6, "Dr": 0.6},
+    "eval_every": 500, "eval_tasks": 512
+  }
+}