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

ml/eval/eval_cl.py

@@ -20,7 +20,7 @@ def run(model, kin, tasks, device, bs=256, **kw):
         r, p = rollout(model, kin, tasks[i:i + bs], device, progress=progress, **kw)
         per.append((r, p, len(tasks[i:i + bs])))
         print('batch %d done wall %.1fs' % (i // bs + 1, time.perf_counter() - t0), flush=True)
-    flat = {k: torch.cat([p[k] for _, p, _ in per]) for k in per[0][1] if k != 'traj'}
+    flat = {k: torch.cat([p[k] for _, p, _ in per]) for k in per[0][1] if k not in ('traj', 'plans')}
     _, _, _, ex, tr = tasks_to_tensors(tasks, 'cpu')
     ok, col = flat['ok'], flat['col'] > 0
     has_ref = torch.isfinite(ex)