exp: 端点进度选择——commit2 到达 52.1%/time_ok 35.2%（n=512），ratio2s 0.343→0.285；附带 50Hz 饥饿实测

- select='endpoint'（候选块末态离目标最近）优于 consist：n=512 到达 +1.3pp、time_ok +6.3pp、ratio −0.058
- 负结论：safety_try 1/2（41.4/44.9%）、K=4（47.3%）、DLS 兜底（52.3%/碰撞+1.1pp）、增益调度（47.3%）
- JS Runner：endpoint 选择落地、冷启动跳前瞻；starveTicks 指标；commit2 平均空转 0.8–1.3 tick，commit3 可覆盖
- route40 endpoint：12/20 ok、13/20 到达、刹车 40.4%

ml/eval/eval_cl.py

@@ -40,9 +40,14 @@ def main():
     ap.add_argument('--commit', type=int, default=3)
     ap.add_argument('--fb', type=float, default=1.8)
     ap.add_argument('--ki', type=float, default=0.0)
+    ap.add_argument('--fb_scale', type=float, default=0.0)
+    ap.add_argument('--fb_near', type=float, default=0.2)
+    ap.add_argument('--fb_fallback', type=float, default=0.0)
     ap.add_argument('--kdecay', type=float, default=0.9)
     ap.add_argument('--kimax', type=float, default=0.5)
     ap.add_argument('--fb_every', type=int, default=1)
+    ap.add_argument('--safety_try', type=int, default=0)
+    ap.add_argument('--sel_w', type=float, default=0.1)
     ap.add_argument('--select', default='consist')
     ap.add_argument('--replan', default='r3')
     ap.add_argument('--safety', type=int, default=1, help='1=安全层+部分前缀；0=关')
@@ -63,8 +68,8 @@ def main():
     t0 = time.perf_counter()
     r = run(model, kin, tasks, a.device, K=a.K, safety=bool(a.safety), seed=a.seed, max_sec=a.max_sec,
             safety_partial=(a.commit if (a.safety and a.partial) else 0), commit_n=a.commit,
-            select=a.select, replan=a.replan, fb_gain=a.fb, fb_ki=a.ki, fb_decay=a.kdecay, fb_imax=a.kimax,
-            fb_every=a.fb_every)
+            select=a.select, replan=a.replan, fb_gain=a.fb, fb_scale=a.fb_scale, fb_near=a.fb_near, fb_fallback=a.fb_fallback, fb_ki=a.ki, fb_decay=a.kdecay, fb_imax=a.kimax,
+            fb_every=a.fb_every, safety_try=a.safety_try, sel_w=a.sel_w)
     wall = time.perf_counter() - t0
     print('ckpt=%s n=%d K=%d commit=%d fb=%.2f ki=%.2f select=%s replan=%s safety=%d' %
           (a.ckpt, r['n'], a.K, a.commit, a.fb, a.ki, a.select, a.replan, a.safety))