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

2026-10-20 17:26:20 +08:00
parent 9eaff7341f
commit 95da49193f
12 changed files with 2516 additions and 29 deletions
@@ -0,0 +1,62 @@
+{
+  "config": {
+    "ckpt": "ml/runs/base_dag2_dag1/best.pt",
+    "samples": "ml/data/samples",
+    "tasks": null,
+    "split": "val",
+    "n": 256,
+    "K": 8,
+    "commit": 2,
+    "fb": 2.2,
+    "ki": 0.0,
+    "fb_scale": 0.0,
+    "fb_near": 0.2,
+    "fb_fallback": 0.0,
+    "kdecay": 0.9,
+    "kimax": 0.5,
+    "fb_every": 1,
+    "safety_try": 0,
+    "sel_w": 0.1,
+    "dls_safety": 1,
+    "fb_clear": 0.0,
+    "fb_cmin": 0.3,
+    "sub_refresh": 0,
+    "fb_block_gain": 0.5,
+    "dump": "ml/runs/round30_before_rows.json",
+    "out": "docs/experiment_round30_before.json",
+    "trace": "ml/runs/round30_before.pt",
+    "select": "endpoint",
+    "replan": "empty",
+    "safety": 1,
+    "partial": 1,
+    "max_sec": null,
+    "seed": 0,
+    "dls": "analytic",
+    "device": "cuda"
+  },
+  "batch_size": 256,
+  "batch_seed_rule": "same seed per batch",
+  "checkpoint_sha256": "f7f686fd8ee92fb6948fbcc4ee954636065ad87bb54f661c4f8f575bc16c2ce1",
+  "tasks_sha256": "249bd93457825cda98c59e64d9a096d3473c69aeb3553de1dea6d9e56be71772",
+  "kin_fp": "2ebcbf17",
+  "act_scale": 1.0,
+  "metrics": {
+    "n": 256,
+    "n_ref": 256,
+    "success": 0.57421875,
+    "collision_free_success": 0.56640625,
+    "time_ok_1p3": 0.390625,
+    "collision_rate": 0.02734375,
+    "collision_steps_mean": 0.0625,
+    "travel_ratio_median": 2.4449527263641357,
+    "time_mean_s": 2.2993197441101074,
+    "brakes_mean": 19.23828125,
+    "start_fail": 0.0,
+    "goal_ratio_2s": 0.20997506380081177,
+    "err_fail_med": 229.68746948242188,
+    "err_success_med": 0.1950554996728897,
+    "dls_share": 0.625,
+    "time_budget": "teacher×2(≥3 s)"
+  },
+  "simulation_wall_s": 247.51454629999353
+}