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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

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Hark
2026-10-17 15:48:19 +00:00
parent 7e70c4e811
commit 8bfe9bc083
50 changed files with 2677 additions and 172 deletions
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ml/gen/gen_dataset.cjs
+8 -6
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@@ -13,16 +13,18 @@ const sampler = require('./sampler.cjs')(S, SEED * 7919 + 13);
const teach = require('./teacher.cjs')(S, ArmIK);
const { sameClass } = require('./pathdev.cjs');
const K_CONS = +args.consensus || 0;
const LEVER = S.leverBounds(4000);
const cert = require('./cert.cjs')(S, { lever: LEVER });
/* --tasks file.jsonl：按给定任务（q0/T/R/mode/cat）请老师，不采样（挖错循环 E2 补路径用） */
const GIVEN = args.tasks ? fs.readFileSync(args.tasks, 'utf8').split('\n').filter(Boolean).map(l => JSON.parse(l)) : null;
const NT = GIVEN ? GIVEN.length : N;
const cert = require('./cert.cjs')(S, {});
const { timeParam } = require('./timelaw.cjs');
const fp = S.modelFingerprint ? S.modelFingerprint() : null;
fs.mkdirSync(path.dirname(OUT), { recursive: true });
const fd = fs.openSync(OUT, 'w');
const r3 = v => Math.round(v * 1000) / 1000;
const t00 = performance.now();
for (let i = 0; i < N; i++) {
const task = sampler.sample();
for (let i = 0; i < NT; i++) {
const task = GIVEN ? Object.assign({ cat: 'E2' }, GIVEN[i], { mode: GIVEN[i].R ? 'pose' : 'pos' }) : sampler.sample();
const t = teach(task);
const rec = { id: 's' + String(SEED).padStart(4, '0') + '_' + String(i).padStart(6, '0'), cat: task.cat, mode: task.mode,
q0: task.q0.map(r3), T: task.T.map(r3), R: task.R, fp };
@@ -51,7 +53,7 @@ for (let i = 0; i < N; i++) {
if (t.poseRelaxed && task.mode === 'pose') { rec.mode = 'pos'; rec.R = null; rec.demoted = true; rec.reached = t.err < 1; }
if (rec.keep) { const tp = timeParam(t.pts); rec.traj = tp.traj.map(q => q.map(r3)); rec.exec_s = r3(tp.steps * 0.02); }
fs.writeSync(fd, JSON.stringify(rec) + '\n');
if ((i + 1) % 25 === 0) process.stderr.write(`[seed ${SEED}] ${i + 1}/${N} ${((performance.now() - t00) / 1000 / (i + 1)).toFixed(2)} s/条\n`);
if ((i + 1) % 25 === 0) process.stderr.write(`[seed ${SEED}] ${i + 1}/${NT} ${((performance.now() - t00) / 1000 / (i + 1)).toFixed(2)} s/条\n`);
}
fs.closeSync(fd);
process.stderr.write(`[seed ${SEED}] done ${N} in ${((performance.now() - t00) / 1000).toFixed(0)} s\n`);
process.stderr.write(`[seed ${SEED}] done ${NT} in ${((performance.now() - t00) / 1000).toFixed(0)} s\n`);