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 +1,13 @@
+/* 最小 .npy 写出（float32 / int32，C 序） */
+'use strict';
+const fs = require('fs');
+function writeNpy(file, arr, shape, dtype) {
+  const descr = dtype === 'int32' ? '<i4' : '<f4';
+  let hdr = `{'descr': '${descr}', 'fortran_order': False, 'shape': (${shape.join(', ')}${shape.length === 1 ? ',' : ''}), }`;
+  const pre = 10, total = Math.ceil((pre + hdr.length + 1) / 64) * 64;
+  hdr = hdr + ' '.repeat(total - pre - hdr.length - 1) + '\n';
+  const h = Buffer.alloc(pre); h.write('\x93NUMPY', 0, 'latin1'); h[6] = 1; h[7] = 0; h.writeUInt16LE(hdr.length, 8);
+  const ta = dtype === 'int32' ? Int32Array.from(arr) : (arr instanceof Float32Array ? arr : Float32Array.from(arr));
+  fs.writeFileSync(file, Buffer.concat([h, Buffer.from(hdr, 'latin1'), Buffer.from(ta.buffer, ta.byteOffset, ta.byteLength)]));
+}
+module.exports = { writeNpy };