exp: 轮次29——全拒后减半反馈到达55.1%，补齐无碰撞指标与首撞回放
512题无碰撞到达54.7%、碰撞1.8%；9次首撞均在J5限位且双精度复现。保留小样本消融，撤回未经实际调度验证的50Hz达标结论，附六项回归测试及完整配置结果。
This commit is contained in:
@@ -0,0 +1,62 @@
|
||||
{
|
||||
"config": {
|
||||
"ckpt": "ml/runs/base_dag2_dag1/best.pt",
|
||||
"samples": "ml/data/samples",
|
||||
"tasks": null,
|
||||
"split": "val",
|
||||
"n": 512,
|
||||
"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/round29_rows.json",
|
||||
"out": "docs/experiment_round29.json",
|
||||
"trace": "ml/runs/round29_trace.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": "1fd72f71eaf8170b45782beede0d91544e1f7142e98c0642560af814382f01ef",
|
||||
"kin_fp": "2ebcbf17",
|
||||
"act_scale": 1.0,
|
||||
"metrics": {
|
||||
"n": 512,
|
||||
"n_ref": 512,
|
||||
"success": 0.55078125,
|
||||
"collision_free_success": 0.546875,
|
||||
"time_ok_1p3": 0.361328125,
|
||||
"collision_rate": 0.017578125,
|
||||
"collision_steps_mean": 0.1015625,
|
||||
"travel_ratio_median": 2.425084352493286,
|
||||
"time_mean_s": 2.322056770324707,
|
||||
"brakes_mean": 19.228515625,
|
||||
"start_fail": 0.0,
|
||||
"goal_ratio_2s": 0.25053170323371887,
|
||||
"err_fail_med": 194.51763916015625,
|
||||
"err_success_med": 0.1961677223443985,
|
||||
"dls_share": 0.634765625,
|
||||
"time_budget": "teacher×2(≥3 s)"
|
||||
},
|
||||
"simulation_wall_s": 488.4280448999925
|
||||
}
|
||||
@@ -0,0 +1,779 @@
|
||||
{
|
||||
"trace": "ml/runs/round29_trace.pt",
|
||||
"n": 512,
|
||||
"reported_collision_tasks": 9,
|
||||
"replayed_first_hits32": 9,
|
||||
"replayed_first_hits64": 9,
|
||||
"scope": "Replay reported first hits only; same geometry kernel at float32/float64, not a full safety audit.",
|
||||
"rows": [
|
||||
{
|
||||
"i": 21,
|
||||
"task": {
|
||||
"tid": 1223280991,
|
||||
"id": "s0001_000564",
|
||||
"cat": "A",
|
||||
"mode": "pose",
|
||||
"q0": [
|
||||
178.767,
|
||||
101.917,
|
||||
25.283,
|
||||
31.588,
|
||||
-12.179,
|
||||
-6.464
|
||||
],
|
||||
"T": [
|
||||
320.779,
|
||||
79.294,
|
||||
350.853
|
||||
],
|
||||
"R": [
|
||||
-0.5548626629953249,
|
||||
-0.1382477148217311,
|
||||
-0.820374910976869,
|
||||
-0.29956278115972873,
|
||||
-0.8867511636570162,
|
||||
0.35204334093514156,
|
||||
-0.7761375943462505,
|
||||
0.44108949556693955,
|
||||
0.4506112421399604
|
||||
],
|
||||
"exec_s": 2.86,
|
||||
"travel": 581.023,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 5.659999847412109,
|
||||
"dls_it": -1,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.35770511627197266,
|
||||
-0.3957242965698242
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.3577231796451059,
|
||||
-0.39572636491366353
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
0,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
0,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
139.78468322753906,
|
||||
87.256591796875,
|
||||
6.928672790527344,
|
||||
103.78778839111328,
|
||||
-94.0,
|
||||
19.4688720703125
|
||||
],
|
||||
"endpoint": [
|
||||
139.50450134277344,
|
||||
87.4175796508789,
|
||||
6.71871280670166,
|
||||
104.29376983642578,
|
||||
-94.0,
|
||||
21.218488693237305
|
||||
],
|
||||
"dense_nsegments": 175,
|
||||
"dense_gap64_min_mm": -0.39572636491366353
|
||||
},
|
||||
{
|
||||
"i": 84,
|
||||
"task": {
|
||||
"tid": 1268963905,
|
||||
"id": "s0002_000538",
|
||||
"cat": "B",
|
||||
"mode": "pose",
|
||||
"q0": [
|
||||
-49.198,
|
||||
52.395,
|
||||
108.796,
|
||||
75.534,
|
||||
82.302,
|
||||
-121.823
|
||||
],
|
||||
"T": [
|
||||
-85.062,
|
||||
275.378,
|
||||
888.929
|
||||
],
|
||||
"R": [
|
||||
0.5139412462799992,
|
||||
-0.4285630099475821,
|
||||
-0.7431003578769356,
|
||||
-0.5533754886400825,
|
||||
-0.8275489878032067,
|
||||
0.09454227286372051,
|
||||
-0.6554692700230204,
|
||||
0.36262435010704513,
|
||||
-0.6624678231921397
|
||||
],
|
||||
"exec_s": 3.2600000000000002,
|
||||
"travel": 349.09,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 5.980000019073486,
|
||||
"dls_it": -1,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.030836105346679688,
|
||||
-0.1565418243408203,
|
||||
-0.11790847778320312
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.030838235678215753,
|
||||
-0.15655898804830848,
|
||||
-0.11791701257236653
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
6,
|
||||
6,
|
||||
6
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
6,
|
||||
6,
|
||||
6
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
-69.87329864501953,
|
||||
36.559112548828125,
|
||||
2.094588279724121,
|
||||
102.22724151611328,
|
||||
89.0,
|
||||
-212.1793212890625
|
||||
],
|
||||
"endpoint": [
|
||||
-69.79582214355469,
|
||||
37.351837158203125,
|
||||
-0.033895254135131836,
|
||||
102.45509338378906,
|
||||
89.0,
|
||||
-214.75440979003906
|
||||
],
|
||||
"dense_nsegments": 258,
|
||||
"dense_gap64_min_mm": -0.16882067924099076
|
||||
},
|
||||
{
|
||||
"i": 145,
|
||||
"task": {
|
||||
"tid": 593213945,
|
||||
"id": "s0003_000414",
|
||||
"cat": "B",
|
||||
"mode": "pose",
|
||||
"q0": [
|
||||
-49.395,
|
||||
84.783,
|
||||
2.744,
|
||||
14.841,
|
||||
-86.783,
|
||||
81.932
|
||||
],
|
||||
"T": [
|
||||
5.391,
|
||||
506.723,
|
||||
383.367
|
||||
],
|
||||
"R": [
|
||||
-0.5269859333114162,
|
||||
-0.7554822816510317,
|
||||
-0.38927156099983334,
|
||||
0.6402732880654818,
|
||||
-0.05172298162073713,
|
||||
-0.7664038424760652,
|
||||
0.5588702377848656,
|
||||
-0.6531242265324508,
|
||||
0.5109724082909718
|
||||
],
|
||||
"exec_s": 2.96,
|
||||
"travel": 560.55,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 5.599999904632568,
|
||||
"dls_it": -1,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.3180522918701172,
|
||||
-0.19827747344970703
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.318071359587325,
|
||||
-0.19825289671655533
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
0,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
0,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
-36.05080032348633,
|
||||
49.852294921875,
|
||||
22.054914474487305,
|
||||
67.3380126953125,
|
||||
-94.0,
|
||||
79.87274932861328
|
||||
],
|
||||
"endpoint": [
|
||||
-35.60316848754883,
|
||||
48.9223747253418,
|
||||
21.386226654052734,
|
||||
67.87915802001953,
|
||||
-94.0,
|
||||
79.27398681640625
|
||||
],
|
||||
"dense_nsegments": 93,
|
||||
"dense_gap64_min_mm": -0.19825289671655533
|
||||
},
|
||||
{
|
||||
"i": 164,
|
||||
"task": {
|
||||
"tid": 1743026973,
|
||||
"id": "s0003_000814",
|
||||
"cat": "C",
|
||||
"mode": "pos",
|
||||
"q0": [
|
||||
-65.982,
|
||||
5.595,
|
||||
-64.669,
|
||||
-72.912,
|
||||
85.732,
|
||||
-86.377
|
||||
],
|
||||
"T": [
|
||||
-189.354,
|
||||
221.034,
|
||||
302.457
|
||||
],
|
||||
"R": null,
|
||||
"exec_s": 2.3000000000000003,
|
||||
"travel": 306.824,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 3.0399999618530273,
|
||||
"dls_it": -1,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.5,
|
||||
-0.12672901153564453
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.5,
|
||||
-0.12673094091899273
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
5
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
5
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
-33.6672248840332,
|
||||
39.63850021362305,
|
||||
-60.174774169921875,
|
||||
-108.2870864868164,
|
||||
88.27082061767578,
|
||||
-74.56200408935547
|
||||
],
|
||||
"endpoint": [
|
||||
-32.8936882019043,
|
||||
39.478729248046875,
|
||||
-58.639915466308594,
|
||||
-107.65913391113281,
|
||||
89.0,
|
||||
-74.92655944824219
|
||||
],
|
||||
"dense_nsegments": 154,
|
||||
"dense_gap64_min_mm": -0.12673094091899273
|
||||
},
|
||||
{
|
||||
"i": 175,
|
||||
"task": {
|
||||
"tid": 444406422,
|
||||
"id": "s0003_001100",
|
||||
"cat": "B",
|
||||
"mode": "pos",
|
||||
"q0": [
|
||||
-28.854,
|
||||
43.33,
|
||||
-137.874,
|
||||
-6.895,
|
||||
-88.001,
|
||||
-43.745
|
||||
],
|
||||
"T": [
|
||||
379.105,
|
||||
293.88,
|
||||
653.541
|
||||
],
|
||||
"R": null,
|
||||
"exec_s": 2.58,
|
||||
"travel": 465.057,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 0.8399999737739563,
|
||||
"dls_it": 144,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.4698514938354492,
|
||||
-0.6612262725830078,
|
||||
-0.9359521865844727
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.4698356780126254,
|
||||
-0.6612412101671552,
|
||||
-0.9359581587234
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
6,
|
||||
6,
|
||||
6
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
6,
|
||||
6,
|
||||
6
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
-42.48794937133789,
|
||||
11.756612777709961,
|
||||
-124.7530288696289,
|
||||
-46.12489700317383,
|
||||
-94.0,
|
||||
-54.57075500488281
|
||||
],
|
||||
"endpoint": [
|
||||
-42.73639678955078,
|
||||
10.6148681640625,
|
||||
-124.47537231445312,
|
||||
-48.52891159057617,
|
||||
-94.0,
|
||||
-55.451263427734375
|
||||
],
|
||||
"dense_nsegments": 241,
|
||||
"dense_gap64_min_mm": -0.9544276230224238
|
||||
},
|
||||
{
|
||||
"i": 180,
|
||||
"task": {
|
||||
"tid": 737760595,
|
||||
"id": "s0003_001280",
|
||||
"cat": "B",
|
||||
"mode": "pos",
|
||||
"q0": [
|
||||
41.213,
|
||||
49.353,
|
||||
-149.808,
|
||||
-8.981,
|
||||
-88.566,
|
||||
83.45
|
||||
],
|
||||
"T": [
|
||||
118.145,
|
||||
2.733,
|
||||
266.082
|
||||
],
|
||||
"R": null,
|
||||
"exec_s": 1.78,
|
||||
"travel": 228.67,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 1.1399999856948853,
|
||||
"dls_it": 102,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.06517887115478516,
|
||||
-0.0172576904296875,
|
||||
0.013133049011230469
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.06521150921177998,
|
||||
-0.017227151210720493,
|
||||
0.013145878955246104
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
5,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
5,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
1.8212896585464478,
|
||||
-9.327469825744629,
|
||||
-150.87704467773438,
|
||||
-23.00735855102539,
|
||||
-94.0,
|
||||
93.73664855957031
|
||||
],
|
||||
"endpoint": [
|
||||
1.3598560094833374,
|
||||
-9.66404914855957,
|
||||
-150.52992248535156,
|
||||
-23.200042724609375,
|
||||
-94.0,
|
||||
92.69589233398438
|
||||
],
|
||||
"dense_nsegments": 105,
|
||||
"dense_gap64_min_mm": -0.020246891242656773
|
||||
},
|
||||
{
|
||||
"i": 215,
|
||||
"task": {
|
||||
"tid": 169730876,
|
||||
"id": "s0004_000544",
|
||||
"cat": "B",
|
||||
"mode": "pos",
|
||||
"q0": [
|
||||
47.051,
|
||||
-1.179,
|
||||
-94.31,
|
||||
-43.128,
|
||||
67.067,
|
||||
-119.867
|
||||
],
|
||||
"T": [
|
||||
-142.696,
|
||||
-139.159,
|
||||
726.163
|
||||
],
|
||||
"R": null,
|
||||
"exec_s": 2.16,
|
||||
"travel": 461.684,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 3.5399999618530273,
|
||||
"dls_it": -1,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.5,
|
||||
-0.08817481994628906
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.5,
|
||||
-0.08817155079043282
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
6
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
0,
|
||||
0,
|
||||
6
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
34.57734298706055,
|
||||
32.23564910888672,
|
||||
-71.76512908935547,
|
||||
10.783411979675293,
|
||||
88.44934844970703,
|
||||
-105.16633605957031
|
||||
],
|
||||
"endpoint": [
|
||||
34.31901931762695,
|
||||
33.24732208251953,
|
||||
-72.12022399902344,
|
||||
10.171412467956543,
|
||||
89.0,
|
||||
-106.89080810546875
|
||||
],
|
||||
"dense_nsegments": 173,
|
||||
"dense_gap64_min_mm": -0.08817155079043282
|
||||
},
|
||||
{
|
||||
"i": 266,
|
||||
"task": {
|
||||
"tid": 458057184,
|
||||
"id": "s0005_000271",
|
||||
"cat": "B",
|
||||
"mode": "pos",
|
||||
"q0": [
|
||||
44.394,
|
||||
32.402,
|
||||
-145.074,
|
||||
-48.37,
|
||||
-85.543,
|
||||
13.576
|
||||
],
|
||||
"T": [
|
||||
184.38,
|
||||
-306.445,
|
||||
433.207
|
||||
],
|
||||
"R": null,
|
||||
"exec_s": 2.52,
|
||||
"travel": 376.205,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 1.2200000286102295,
|
||||
"dls_it": 304,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.2372283935546875,
|
||||
-0.05915641784667969
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.5,
|
||||
0.23719947210205383,
|
||||
-0.05918908805933398
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
0,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
0,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
20.49032974243164,
|
||||
10.35391902923584,
|
||||
-172.87489318847656,
|
||||
-73.93492126464844,
|
||||
-93.70915985107422,
|
||||
14.725995063781738
|
||||
],
|
||||
"endpoint": [
|
||||
20.34522819519043,
|
||||
10.012239456176758,
|
||||
-172.91363525390625,
|
||||
-74.4600601196289,
|
||||
-94.0,
|
||||
13.266871452331543
|
||||
],
|
||||
"dense_nsegments": 146,
|
||||
"dense_gap64_min_mm": -0.05918908805933398
|
||||
},
|
||||
{
|
||||
"i": 325,
|
||||
"task": {
|
||||
"tid": 1206824904,
|
||||
"id": "s0005_001755",
|
||||
"cat": "B",
|
||||
"mode": "pose",
|
||||
"q0": [
|
||||
-68.225,
|
||||
58.481,
|
||||
-31.386,
|
||||
57.2,
|
||||
-31.831,
|
||||
-80.259
|
||||
],
|
||||
"T": [
|
||||
30.805,
|
||||
353.752,
|
||||
661.419
|
||||
],
|
||||
"R": [
|
||||
0.5493387160259536,
|
||||
0.13571391775309405,
|
||||
0.8245051289125273,
|
||||
-0.09525700289583322,
|
||||
-0.9701190077749987,
|
||||
0.22314841283987508,
|
||||
0.8301524429129026,
|
||||
-0.2011239500451364,
|
||||
-0.5199962290670785
|
||||
],
|
||||
"exec_s": 2.34,
|
||||
"travel": 659.756,
|
||||
"reached": true,
|
||||
"err": 0,
|
||||
"split": "val"
|
||||
},
|
||||
"first_hit_s": 3.0999999046325684,
|
||||
"dls_it": -1,
|
||||
"point_order": [
|
||||
"q0",
|
||||
"previous",
|
||||
"midpoint",
|
||||
"endpoint"
|
||||
],
|
||||
"gap32_mm": [
|
||||
0.5,
|
||||
0.3628082275390625,
|
||||
0.004294395446777344,
|
||||
-0.6861848831176758
|
||||
],
|
||||
"gap64_mm": [
|
||||
0.5,
|
||||
0.3628058862147938,
|
||||
0.004307730814957722,
|
||||
-0.686172816414107
|
||||
],
|
||||
"pair32": [
|
||||
0,
|
||||
18,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"pair64": [
|
||||
0,
|
||||
18,
|
||||
5,
|
||||
5
|
||||
],
|
||||
"boundary_joints": [
|
||||
5
|
||||
],
|
||||
"previous": [
|
||||
-39.524147033691406,
|
||||
54.68175506591797,
|
||||
-18.574026107788086,
|
||||
103.78845977783203,
|
||||
-94.0,
|
||||
-53.657958984375
|
||||
],
|
||||
"endpoint": [
|
||||
-39.42676544189453,
|
||||
55.778987884521484,
|
||||
-18.88759994506836,
|
||||
103.97470092773438,
|
||||
-94.0,
|
||||
-54.84250259399414
|
||||
],
|
||||
"dense_nsegments": 119,
|
||||
"dense_gap64_min_mm": -0.686172816414107
|
||||
}
|
||||
]
|
||||
}
|
||||
+46
-6
@@ -5,6 +5,13 @@
|
||||
|
||||
评测约定：val 任务、部署节奏（r = 3 重规划、1 段采样、K=8）；「纯策略」= 关安全层；「部署」= 开安全层。时延：桌面 RTX 3090 上 `sample_k(B=64, K=8)` 墙钟均值（均值，非 P99）；浏览器 ONNX P99 以 §9.2 R4 的独立测量为准。
|
||||
|
||||
**口径更正（2026-10-20，轮次 29 复核；下列历史原始数值保留）：**
|
||||
- 轮次 24–28 的“50 Hz 可行/连续无饥饿”结论撤回。同步 `await plan(); tick()` 不是实际 20 ms 调度；`starveTicks` 只是耗时除以 20 ms 的估算。组件分位数相加不等于整次规划 P99，实测 62–68 ms 也超过 commit=3 的 60 ms。仍须严格认证下的真查看器 R9 测量，且不放松 §9.2 的 P99 < 20 ms。
|
||||
- Python 端点/中点检查不等于连续认证；JS `--seg 0` 是放松安全的消融，不是部署验收。开安全层碰撞必须为 0，不能套用“纯策略 <3%”判据。既有到达率允许途中碰撞，新指标 `collision_free_success` 才是时限内无碰撞到达率。
|
||||
- `replan=empty` 是同步仿真的零前缀配方，不是已验证的异步执行配置。所有任务（含 D）继续保留在历史对照分母内；不能与 held-out 可达任务 ≥98% 直接比较。
|
||||
- 轮次 26 的几何角速度雅可比不等于远离目标时 skew 姿态残差的精确导数，因而既改变控制律又消除差分误差；不能把全部收益归因于去噪。3.58% 是单个位置雅可比样本对拍，不是普遍噪声界。`check_dls.py` 中标 B=256 的测量实际仅有 64 行，不能引用为 B=256 性能。
|
||||
- `err_fail_med` 是批次结束时未按时到达任务的末端误差，不是每题截止时误差；仿真墙钟/题也不是单次规划延迟。查看器默认选择器仍为 consist，endpoint 仅是可选实验。
|
||||
|
||||
## 轮次 0：基线（2026-10-18，main）
|
||||
|
||||
- **假设**：模型开环已拟合老师（末端 ~6 mm），闭环失败另有原因。
|
||||
@@ -498,18 +505,51 @@
|
||||
- DLS 兜底半步（全拒时朝目标走一步并认证）：52.3%（基线 52.0%），碰撞 1.6→2.7%，无收益；重复多步版本碰撞 45.7%（第二步未认证），已回退为单步且默认关闭。
|
||||
- 增益调度（远 2.8/近 2.2）：47.3% / time_ok 32.8%，等同 gain2.8 常数；高增益在远处就造成过冲，按距离衰减无效。
|
||||
- **浏览器同步**：`select='endpoint'` 进 Runner/bench（`--select endpoint`），冷启动跳过 8 份前瞻（省 ~80 ms P99，冷启动价值评分被端点排序替代）。nc10 bench（--seg 0 --select endpoint）：pos ok 4/5 reached、pose ok 2/4，刹车率 32.1%/25.5%（consist 48.1%/31.6%），planP50 31.9/36.5 ms、P99 63.5/67.5 ms。
|
||||
- **50 Hz 部署口径实测（Runner 增加 `starveTicks`：ceil(planMs/20) − 规划时队列步数）**：
|
||||
- **同步 bench 耗时与队列耗尽估算（不是 50 Hz 调度实测）**：Runner 的 `starveTicks = max(0,ceil(planMs/20) − 规划时队列步数)`，不含真实 tick 时间戳。
|
||||
|
||||
| 集合（endpoint, commit=2, --seg 0） | 到达 ok/reached | 刹车率 | planP50/P99 | 饥饿 tick/次规划 |
|
||||
| 集合（endpoint, commit=2, --seg 0） | 到达 ok/reached | 刹车率 | planP50/P99 | 估算饥饿 tick/次规划 |
|
||||
|---|---|---|---|---|
|
||||
| near_column_pos (10) | 4/5 | 32.7% | 32.0/62.1 ms | 0.87 |
|
||||
| near_column_pose (10) | 2/3 | 25.6% | 36.8/68.0 ms | 0.78 |
|
||||
| route40 (20) | 12/13 | 40.4% | 44.3/68.1 ms | 1.26 |
|
||||
|
||||
- commit=2 的队列只有 40 ms，route 集 planP50 44 ms 已经超过 → 每次规划平均空转 ~1.3 tick（50 Hz 下机械臂会"走两步停一下"）。
|
||||
- **commit=3（60 ms 队列）可覆盖 P50 44 ms 与多数 P99**：endpoint n=256 → 47.7% / 27.0% / 1.2% / 0.245；gain2.5 反而降到 45.7% / 24.6%。**连续 50 Hz 口径选 commit=3（47.7%），极限准确率选 commit=2（52.1%，偶发空转）**。
|
||||
- **结论**：**新历史最佳（50 Hz 节奏，n=512）= 端点选择 + 解析 J + gain2.2 + commit=2 + safety_partial：到达 52.1% / time_ok 35.2% / 碰撞 2.0% / ratio2s 0.285**。相对本会话开始的历史最佳（42.2% / 29.1% / 2.9% / 0.270）到达 +9.9 pp、时间效率 +6.1 pp。commit=1 上限 59.4%（碰撞 3.9%，超 3% 线，且规划频率不可实时）。
|
||||
- **下一步**：① 碰撞 2.0% 的来源分解（端点选择使候选更贴障碍？）；② 把 `select=endpoint` 写进查看器默认（Runner 默认仍 consist）；③ route 集 safety P50 30 ms 是 planP50 的主项，继续压认证成本（候选去重/按需投影已做，剩余在 collideFree 本身）。
|
||||
- commit=2 对应 40 ms 队列，route 集 planP50 44 ms 已超过；估算提示可能饥饿，但该 bench 等规划完成才 tick，没有观测实际空转。
|
||||
- commit=3 对应 60 ms，仍低于上述 P99，不能据此宣称连续 50 Hz。其 Python 同步结果：endpoint n=256 → 47.7% / 27.0% / 1.2% / 0.245；gain2.5 为 45.7% / 24.6%。
|
||||
- **结论（经轮次 29 更正）**：端点选择 + 解析 J + gain2.2 + commit=2 + safety_partial，在 n=512 同步仿真为 **到达 52.1% / time_ok 35.2% / 碰撞 2.0% / ratio2s 0.285**。历史 42.2% 使用 commit=1 与 FD，非单变量对照。commit=1 到达 59.4% 但碰撞 3.9%；无论 2.0% 还是 3.9%，开安全层均未通过零碰撞要求，实时性亦未通过。
|
||||
- **下一步**：先查碰撞来源，保持严格认证和查看器默认；再测真实异步调度及认证成本，不因 Python 收益直接切换部署默认。
|
||||
|
||||
## 轮次 29：安全层全拒后减弱目标反馈（exp: `exp/dagger-deploy`）
|
||||
|
||||
- **假设**：目标反馈将绕障候选推向障碍，连续全拒会反复停在同处；仅在上一计划被全拒时减小下一计划反馈，可能保留正常段收敛速度并减少重复刹停。
|
||||
- **判据**：同任务、同 seed、同 K、同认证下到达和 time_ok 不下降，碰撞不增加；部署门槛仍是零碰撞及真实时延达标。所有实验不重训、不扩大数据。
|
||||
- **固定配方**：`python -m ml.eval.eval_cl --n 256 --K 8 --commit 2 --fb 2.2 --partial 1 --replan empty --select endpoint --seed 0`；dag2 checkpoint、几何雅可比。下表仅改列出的参数，默认 `fb_block_gain=1,dls_safety=0`。512 题按两个 256 批、每批 seed=0，沿用轮次 28 顺序。
|
||||
|
||||
| 改动（n=256） | 到达 | time_ok_1p3 | 碰撞 | ratio2s | 刹停/题 |
|
||||
|---|---|---|---|---|---|
|
||||
| 原配置复跑 | 52.7% | 37.5% | 2.3% | 0.210 | 34.6 |
|
||||
| `--dls_safety 1` | 52.7% | 37.5% | 2.0% | 0.210 | 34.6 |
|
||||
| `--fb_clear 20 --fb_cmin 0.3` | 32.0% | 5.9% | 1.2% | 0.323 | 3.2 |
|
||||
| `--sub_refresh 1` | 51.6% | 35.5% | 2.0% | 0.279 | 33.8 |
|
||||
| `--select adapt` | 52.7% | 37.9% | 2.3% | 0.210 | 34.6 |
|
||||
| `--fb_block_gain 0.3` | 56.2% | 38.7% | 3.1% | 0.178 | 17.2 |
|
||||
| `--fb_block_gain 0.5` | **57.4%** | **39.1%** | 3.1% | 0.210 | 19.3 |
|
||||
| `--fb_block_gain 0.7` | 55.5% | 38.3% | 2.3% | 0.189 | 25.0 |
|
||||
| `--fb_block_gain 0.5 --dls_safety 1` | **57.4%** | **39.1%** | 2.7% | 0.210 | 19.2 |
|
||||
|
||||
- **单独减半反馈 n=512**：到达 55.1% / time_ok 36.1% / 碰撞 2.5% / ratio2s 0.251 / 刹停 19.5；相对轮次 28 同规模基线 52.1% / 35.2% / 2.0% / 0.285 / 35.7，到达 +3.0 pp、碰撞也 +0.5 pp，不满足“碰撞不增加”判据。
|
||||
- **为何不采用其他变体**：所有近障碍状态都衰减反馈会明显拖慢到达；子目标重预测无收益；adapt 全拒后旧计划本来就失效，一致性分数全为 0，实质变成等分选首条而非“继续绕行”。
|
||||
- **原配置失败分解（n=256）**：135 题按时到达，121 题失败（其中 20 题后来才到，101 题始终没到）。A/B/C/D/Dr 分别 128/74/32/13/9 题，B/C 失败题刹停中位数约 96/93 次；D 留在分母，不用删题提高成绩。
|
||||
- **碰撞定位**：原配置共 6 题碰撞，只有 224 号首次碰撞紧跟 DLS 接管；另外 5 题首次碰撞早于接管或根本未接管。为 DLS 加端点/中点检查仅减少 1 题，不能解释剩余碰撞。候选认证的未夹紧累加点与执行的逐步夹紧点不同是待验证假设，尚不能断言根因。
|
||||
- **计时**：n=256 减半反馈+DLS检查整批墙钟 243.6 s，单独减半 n=512 为 443.4 s；这些不是规划时延，不能证明 50 Hz。反馈条件分支未增加几何查询，但其实际延迟收益未测。
|
||||
- **记录改进**：评估输出完整参数、checkpoint/任务 SHA256、批大小和随机种子规则；增加时限内无碰撞到达率；修正 n_ref、参考时间占比和条件指标的跨批汇总。可保存实际轨迹供不重新采样的回放，NaN 在 JSON 中写为 null，执行进度每 50 步输出。
|
||||
- **回归检查**：`python -m unittest tests.test_eval_cl -v` 六项通过，覆盖跨批分母、空条件集、非有限数、首撞探针正对照、精修被拒后保留安全候选、只有全拒后才减弱反馈。精修对照在关闭检查时确实碰撞，打开后保留候选，证明门会执行；这是合成测试，不替代真实几何验收。
|
||||
- **仍未修复的边界**：`fb_fallback=0` 保持关闭；非部分前缀分支仍有“只验一步却重复执行”问题，不能开启部署。速度限制在反馈叠加前而非叠加后，尚未验证速度/加速度符合硬约束。
|
||||
- **减半反馈 + DLS 检查的 n=512 复核（完整输出 `docs/experiment_round29.json`）**：到达 **282/512 = 55.1%**、时限内无碰撞到达 **280/512 = 54.7%**、time_ok **36.1%**、碰撞 **9/512 = 1.8%**、ratio2s **0.251**、刹停 **19.23/题**。到达题末端误差中位数 **0.196 mm**；有参考且到达题的行程比中位数 **2.425**（远高于 1.10 要求）。整批墙钟 **488.4 s**，非控制延迟。
|
||||
- 完整命令：`python -u -m ml.eval.eval_cl --n 512 --commit 2 --fb 2.2 --partial 1 --replan empty --select endpoint --fb_block_gain 0.5 --dls_safety 1 --out docs/experiment_round29.json --dump ml/runs/round29_rows.json --trace ml/runs/round29_trace.pt`。
|
||||
- 与轮次 28 同规模端点基线相比，到达 +3.0 pp、time_ok +0.9 pp、碰撞少 1 题（10→9），不足以宣称稳定安全改善；n=256 碰撞仍由 6→7 题。
|
||||
- **首撞回放（`docs/experiment_round29_collisions.json`）**：`python -m ml.eval.diag_collision --trace ml/runs/round29_trace.pt --out docs/experiment_round29_collisions.json`。9 题首次碰撞在 CPU float32/float64 均复现，均位于 **J5 限位**；q0 与首次碰撞前一点均为正间隙，首撞采样点负间隙约 **−0.017 至 −0.936 mm**。这排除了这 9 次碰撞由起点本就碰撞或 float32 单独翻号造成，但还需要记录原认证点才能证明夹紧的因果作用；0.01° 加密仅覆盖首撞段，不是整条轨迹安全审计。
|
||||
- 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。
|
||||
|
||||
## 分支清理（2026-10-20）
|
||||
|
||||
|
||||
Reference in New Issue
Block a user