fix+exp: 轮次30——统一认证与执行限位，到达57.4%不变；加密回放仍检出段内碰撞
This commit is contained in:
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@@ -0,0 +1,62 @@
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|
||||
],
|
||||
"previous": [
|
||||
3.0118656158447266,
|
||||
-7.4926042556762695,
|
||||
-151.498291015625,
|
||||
-22.7498836517334,
|
||||
-94.0,
|
||||
93.50477600097656
|
||||
],
|
||||
"endpoint": [
|
||||
1.8212896585464478,
|
||||
-9.327469825744629,
|
||||
-150.87704467773438,
|
||||
-23.00735855102539,
|
||||
-94.0,
|
||||
93.73664855957031
|
||||
],
|
||||
"dense_max_step_deg": 0.01,
|
||||
"dense_points": 185,
|
||||
"min_gap64_mm": -0.14927288174659914,
|
||||
"min_at_fraction": 0.7663043478260869,
|
||||
"min_at_q": [
|
||||
2.09952208334985,
|
||||
-8.898669719696045,
|
||||
-151.0222272458284,
|
||||
-22.947187786516935,
|
||||
-94.0,
|
||||
93.68246095076852
|
||||
],
|
||||
"scope": "One executed segment; finite sampling demonstrates a collision between certified checkpoints."
|
||||
}
|
||||
@@ -551,6 +551,37 @@
|
||||
- 双精度运动学/间隙另与已有 JS 2000 个样本对拍：`python -m ml.eval.check_parity` PASS，碰撞布尔差 0、间隙最大差 2.53e−13 mm。首撞回放仍共用碰撞模型，不替代真机或独立连续认证。
|
||||
- **结论与下一步**：减少连续刹停确有小样本收益，但碰撞、行程和真实时延仍未过门槛；保留为实验选项，不更改查看器默认。下一轮记录原认证点与 J5 夹紧后实际点，修复后用同批同 seed A/B 和独立细采样复核，禁止靠关掉认证提速。
|
||||
|
||||
## 轮次 30：认证与执行统一逐步限位（exp: `exp/dagger-deploy`，局部修复有效，仍未零碰撞）
|
||||
|
||||
- **假设与判据**：安全层认证的是未夹紧累加轨迹，执行器却逐步夹紧 J5，导致认证通过后碰撞。必须同时证明原证书安全、执行点碰撞、记录命令经执行算式能准确重建实际点；修复后保持同任务、同种子、同模型、同增益和同排序，到达不下降，并用不依赖原 `col` 标记的加密回放检验。
|
||||
- **固定配方**：`python -u -m ml.eval.eval_cl --n 256 --commit 2 --fb 2.2 --partial 1 --replan empty --select endpoint --fb_block_gain 0.5 --dls_safety 1`；K=8、seed=0、analytic DLS、dag2 checkpoint、fallback=0，其余参数默认；分别附 `--out docs/experiment_round30_before.json --trace ml/runs/round30_before.pt --dump ml/runs/round30_before_rows.json` 和对应的 `after` 路径。未训练、未扩题、未改 JS 默认。
|
||||
- **可比性**：取证版 before 与轮次29首批256题完整轨迹逐元素完全相同（最大差 0°），ok/col/brakes/err/t_done/first_hit 也完全相同；before/after 配置仅输出路径不同。任务 SHA256=`249bd93457825cda98c59e64d9a096d3473c69aeb3553de1dea6d9e56be71772`，checkpoint SHA256=`f7f686fd8ee92fb6948fbcc4ee954636065ad87bb54f661c4f8f575bc16c2ce1`，kin_fp=`2ebcbf17`。
|
||||
- **直接证据**（`docs/experiment_round30_certificates.json`）：旧版7次首撞的原认证端点/中点在 float32 与 float64 均为正间隙，实际执行段均有负间隙；`clamp(previous + recorded_command)` 与实际端点逐位一致。原证书与实际点主要差在 J5，首撞段差 0.340°–4.317°；其他轴仅有最高约 7.6e-6° 的累加舍入差，不足以解释毫米级穿入。全部有效认证步中，5298/34069 步偏差 >0.001°，最大 7.587°。
|
||||
- **修复范围**：`execution_points` 按执行器相同顺序逐步夹紧，端点和中点都由实际路径计算；整段、部分前缀和近目标 DLS 共用。r3 的旧队列终点和特征前缀改为真实执行结果。fallback 保持实验默认关闭，但两分支统一为“认证一步后补零”，不再把只验过一步的动作重复执行；端点和中点都认证。候选排序和反馈增益未改，0.5 仍只是间隙截顶，正间隙判据没有放宽。
|
||||
|
||||
| 指标（同256题） | 修复前 | 修复后 |
|
||||
|---|---|---|
|
||||
| 按时到达 | 147/256 = 57.4% | 同147题，57.4% |
|
||||
| 原端点/中点口径无碰撞到达 | 145/256 = 56.6% | 147/256 = 57.4%（下述加密审计否定其“全程无碰撞”含义） |
|
||||
| time_ok_1p3 | 39.1% | 39.1% |
|
||||
| 原端点/中点口径碰撞题 | 7/256 | 0/256 |
|
||||
| 成功题末端误差中位数 | 0.1951 mm | 0.1890 mm |
|
||||
| 成功题平均时间 | 2.2993 s | 2.3076 s |
|
||||
| 2 s 误差比中位数 | 0.2100 | 0.2100 |
|
||||
| 刹停/题 | 19.2383 | 19.2500 |
|
||||
| 成功题指令行程比中位数 | 2.4450 | 2.4450 |
|
||||
| 从实际轨迹重算成功题行程比 | 2.4251 | 2.4251 |
|
||||
| 整批同步仿真墙钟 | 247.515 s | 248.834 s |
|
||||
|
||||
- **执行一致性复核**（`docs/experiment_round30_comparison.json`）：修复后34107个有效认证步，认证端点/中点与实际执行点均逐位一致，最大差 0°；有效时段没有未经认证的移动步。这里“认证”仍仅指离散端点/中点，不能推出连续安全。CPU B=1、commit=2 的预测函数单独测量：100次预热、1000次采样、单线程，P50 0.0388→0.0518 ms，P99 0.0691→0.0939 ms；不是完整规划延迟，不能证明50 Hz。
|
||||
- **独立加密审计的正反对照**：预先固定12题 `0,21,84,128,145,164,175,180,197,215,224,255`，其中包含全部7题旧首撞及5题其他任务；不按新版 `col` 过滤。逐题回放至自身时限或到达，含起点，每个插值段最大轴步距≤0.05°并包含中点，float64、每批64点。命令：`python -u -m ml.eval.diag_collision --trace ml/runs/round30_before.pt --dense_indices 0,21,84,128,145,164,175,180,197,215,224,255 --max_step_deg 0.05 --device cuda --out docs/experiment_round30_dense_before.json`，after 同理；串行运行。
|
||||
- before：56118点，**7/12题检出碰撞**，14.870 s；证明探针确实能抓旧碰撞。
|
||||
- after：56566点，**仍有1/12题碰撞**，15.057 s；其余11题采样点间隙为正。这是小样本有限采样，不是完整256题的连续认证。
|
||||
- 剩余第180题，执行段1.08–1.10 s：上一点/中点/端点 float64 间隙为 **0.5 / 0.11723 / 0.06521 mm**，都安全，但段内约76.6%处为 **−0.14927 mm**；该段0.01°再加密185点仍检出，见 `docs/experiment_round30_missed_segment.json`。因此这次残余是端点/中点漏检，而非认证与执行错位；它比旧离散首次碰撞1.14 s还早。不得把内部计数0当成修好了；已知真实无碰撞到达至多146/256=57.0%，其余未加密任务仍未知。
|
||||
- **回归与判据灵敏度**：`python -m unittest tests.test_eval_cl -v` 14项通过。覆盖整段/部分限位拒绝、只保留真实安全前缀、DLS被拒后保留候选、r3旧队列起点和特征前缀及逐点证书、fallback单步/中点拒绝。把预测函数在内存中替回旧算式，限位、DLS和r3测试重新失败。加密探针另有合成正对照：原端点/中点全安全且 `col=0`，仍检出四分之一处薄障碍；安全负对照、截止后/到达后碰撞排除均通过。
|
||||
- **新增硬约束证据**：before/after 两组256题实际轨迹都出现超速，最大 **1.660004×VMAX**（来源是动作限幅后叠加0.3×gain2.2反馈）。实际各轴最大速度约 `[99.600,99.600,149.400,149.400,199.200,298.800]°/s`，并非只看原始指令推测。行程仍约参考2.425倍；速度、加速度和真实控制时延均未达部署验收。历史 `travel` 累积的是指令而非夹紧后位移，本轮已同时列出实际轨迹重算值，不悄悄换分母。
|
||||
- **结论与下一步**：逐步限位一致性修复有效，未牺牲本批到达率；但加密审计仍检出段内碰撞，**不能部署、不能宣称零碰撞或50 Hz合格**。下一轮先验证更强的段内认证，再单独评估反馈后的速度/加速度约束与真实端到端调度；每次保持小样本单变量对照，继续保留失败证据。
|
||||
|
||||
## 分支清理（2026-10-20）
|
||||
|
||||
- `feat/fb-mix`（8e5431c）：反馈混合方案的中间分支，**已验证是 `exp/dagger-deploy` 的祖先**（所有提交都在后者历史里），本地/远端分支删除，内容保留在 exp/dagger-deploy。
|
||||
|
||||
Reference in New Issue
Block a user