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%

tests/policy_bench.cjs

@@ -14,7 +14,7 @@ const fs = require('fs'), path = require('path');
 const argv = process.argv.slice(2);
 const flag = k => argv.includes(k);
 const opt = k => { const i = argv.indexOf(k); return i >= 0 ? argv[i + 1] : null; };
-const VALOPT = new Set(['--out', '--nc-n', '--route-n', '--r8-n', '--fb', '--commit', '--seg']);
+const VALOPT = new Set(['--out', '--nc-n', '--route-n', '--r8-n', '--fb', '--commit', '--seg', '--proj', '--select']);
 const pos = argv.filter((a, i) => !a.startsWith('--') && !(i > 0 && VALOPT.has(argv[i - 1])));
 const MODEL = pos[0] || path.join(__dirname, '../webapp/models/traj_policy.onnx');
 const SETS = (pos[1] || 'nc,route').split(',').concat(flag('--nc1000') ? ['nc1000'] : []);
@@ -66,12 +66,12 @@ const pct = (a, p) => { if (!a.length) return null; const s = a.slice().sort((x,
   const cert = POL.makeCert(S, {});
   const out = { model: MODEL, meta: { fp: meta.fp, eval: meta.eval } };
   const runSet = async (name, cases, mode) => {
-    let ok = 0, reached = 0, colTasks = 0, colFrames = 0, uncert = 0, brakes = 0, locks = 0, plans = 0, recovered = 0, lockTasks = 0, livelock = 0;
+    let ok = 0, reached = 0, colTasks = 0, colFrames = 0, uncert = 0, brakes = 0, locks = 0, plans = 0, recovered = 0, lockTasks = 0, livelock = 0, starve = 0;
     const inf = [], saf = [], look = [], planT = [], planW = [], cq = [], times = [], fails = []; let hits = 0; const why = {};
     for (let ci = 0; ci < cases.length; ci++) {
       const c = cases[ci];
       const R = mode === 'pose' ? c.R : null;
-      const r = new POL.Runner(S, infer, { seed: 1000 + ci, actScale: meta.act_scale || 1, fbGain: +opt('--fb') || 0, commit: Math.max(1, +opt('--commit') || 3), segCert: opt('--seg') !== '0' });   // 2026-10-19：动作尺度随模型
+      const r = new POL.Runner(S, infer, { seed: 1000 + ci, actScale: meta.act_scale || 1, fbGain: +opt('--fb') || 0, commit: Math.max(1, +opt('--commit') || 3), segCert: opt('--seg') !== '0', projMax: opt('--proj') === '0' ? 0 : 0.5, select: opt('--select') || 'consist' });   // 2026-10-19：动作尺度随模型
       r.reset(c.q0); r.setGoal(c.T, R);
       let prev = c.q0.slice(), cf = 0, tLock = null;
       for (let k = 0; k < 500 && !r.done; k++) {
@@ -86,14 +86,14 @@ const pct = (a, p) => { if (!a.length) return null; const s = a.slice().sort((x,
       const { e, oe } = r.err(r.q);
       const rc = r.done && e < 1 && oe < 0.5;
       if (rc) reached++; if (cf) { colTasks++; colFrames += cf; } if (rc && !cf) { ok++; times.push(r.t); } else fails.push({ ci, err: +e.toFixed(1), oerr: +oe.toFixed(1), colFrames: cf, brakes: r.stats.brakes });
-      inf.push(...r.stats.inferMs); saf.push(...r.stats.safetyMs); look.push(...r.stats.lookaheadMs); planT.push(...r.stats.planMs); planW.push(...r.stats.planWarmMs); cq.push(...r.stats.certQ); hits += r.stats.certHit;
+      inf.push(...r.stats.inferMs); saf.push(...r.stats.safetyMs); look.push(...r.stats.lookaheadMs); planT.push(...r.stats.planMs); planW.push(...r.stats.planWarmMs); starve += r.stats.starveTicks || 0; cq.push(...r.stats.certQ); hits += r.stats.certHit;
       for (const k in r.stats.certWhy) why[k] = (why[k] || 0) + r.stats.certWhy[k]; brakes += r.stats.brakes; locks += r.stats.locks; plans += r.stats.plans;
       if (tLock != null) { lockTasks++; if (rc && !cf && r.t - tLock <= 3.0) recovered++; } else if (rc && !cf) recovered++;
       if (!rc && r.stats.locks >= 2) livelock++;
       if ((ci + 1) % 50 === 0) process.stderr.write(`${name} ${ci + 1}/${cases.length}\n`);
     }
     out[name] = { n: cases.length, ok, reached, collisionTasks: colTasks, collisionFrames: colFrames, uncertifiedSegs: uncert, brakes, locks,
-      plans, brakeRate: plans ? +(brakes / plans).toFixed(4) : null, lockTasks, recovered3s: recovered, recoveryRate: cases.length ? +(recovered / cases.length).toFixed(4) : null, livelock,
+      plans, brakeRate: plans ? +(brakes / plans).toFixed(4) : null, starveTicks: starve, starvePerPlan: plans ? +(starve / plans).toFixed(3) : null, lockTasks, recovered3s: recovered, recoveryRate: cases.length ? +(recovered / cases.length).toFixed(4) : null, livelock,
       timeP50: pct(times, 0.5), inferMsP50: pct(inf, 0.5), inferMsP99: pct(inf, 0.99), safetyMsP50: pct(saf, 0.5), safetyMsP99: pct(saf, 0.99),
       // 2026-10-18 第六轮（审查 B-1/B-2）：前瞻、整次规划耗时，每次规划的距离查询数与记忆命中率，认证失败原因——与查看器 autotest 同口径对照
       lookaheadMsP99: pct(look, 0.99), planMsP50: pct(planT, 0.5), planMsP99: pct(planT, 0.99), planWarmMsP99: pct(planW, 0.99), certQueriesP50: pct(cq, 0.5), certQueriesP99: pct(cq, 0.99),