第八轮：monitor 状态三项被注释吞掉的 bug；R9 改判稳态 planWarmP99 + 运动中饥饿 + 认证超时占比；APG steps 8000（batch 48 保持总任务量）；r4 不再静默退回 CDN；自检副本含未跟踪文件；显存文案按 19–20 GB；审查文档精简为实测/判据/待数据/三段训练

webapp/js/ik-policy-glue.js

@@ -72,7 +72,7 @@ async function boot() {
       latency: () => { const p = (a, x) => { const s = a.slice().sort((u, v) => u - v); return s.length ? s[Math.min(s.length - 1, Math.floor(s.length * x))] : null; };
         const st = runner.stats;
         return { inferP50: p(st.inferMs, .5), inferP99: p(st.inferMs, .99), safetyP50: p(st.safetyMs, .5), safetyP99: p(st.safetyMs, .99),
-          lookaheadP99: p(st.lookaheadMs, .99), planP50: p(st.planMs, .5), planP99: p(st.planMs, .99), certQP99: p(st.certQ, .99),
+          lookaheadP99: p(st.lookaheadMs, .99), planP50: p(st.planMs, .5), planP99: p(st.planMs, .99), planWarmP99: p(st.planWarmMs, .99), planColdP99: p(st.planColdMs, .99), coldPlans: st.planColdMs.length, certQP99: p(st.certQ, .99),
           tickGapP99: p(TICKS.gaps, .99), tickGapMax: TICKS.gaps.length ? Math.max(...TICKS.gaps) : null, starve: TICKS.starve, ticks: TICKS.n,
           threads: ort.env.wasm.numThreads, ep: ep[0], proxy, encOnce: !!meta.enc_once, featDyn: !!meta.feat_dyn, probe }; }
     };
@@ -118,7 +118,8 @@ function onTick() {
   if (!running) return;
   const tn = performance.now(); if (TICKS.last) TICKS.gaps.push(tn - TICKS.last); TICKS.last = tn; TICKS.n++;
   if (TICKS.gaps.length > 20000) TICKS.gaps.splice(0, 10000);
-  if (!runner.queue.length && !runner.done && runner.goal) TICKS.starve++;
+  /* 第八轮：冷启动（静止起步、首次规划含前瞻）时队列本就为空、机械臂没在动，不算丢步；只统计运动中断粮 */
+  if (!runner.queue.length && !runner.done && runner.goal && !runner.cold) TICKS.starve++;
   if (runner.needPlan()) runner.plan().catch(e => { console.error(e); stop(); say('策略推理出错：' + e.message, 'badb'); });
   const q = runner.tick();
   if (q) window.IK.setJoints(q, false);

webapp/js/ik-policy.js

@@ -184,7 +184,7 @@ class Runner {
     this.rng = makeRng(this.o.seed);
     /* 2026-10-18 第六轮（审查 B-1/B-2）：耗时拆开记——inferMs 主推理、lookaheadMs 前瞻（第二次推理 + 8 份特征）、safetyMs 只含认证、
        planMs 整次规划（R9 口径：必须 < 60 ms 周期）；certQ 每次规划新增的距离查询数，certHit 记忆命中数，certWhy 认证失败原因计数 */
-    this.stats = { plans: 0, inferMs: [], lookaheadMs: [], safetyMs: [], planMs: [], certQ: [], certHit: 0, certWhy: {}, brakes: 0, refine: 0, lookahead: 0, locks: 0, projected: 0 };
+    this.stats = { plans: 0, inferMs: [], lookaheadMs: [], safetyMs: [], planMs: [], planWarmMs: [], planColdMs: [], certQ: [], certHit: 0, certWhy: {}, brakes: 0, refine: 0, lookahead: 0, locks: 0, projected: 0 };
     this.reset(null);
   }
   reset(q0) {
@@ -238,11 +238,11 @@ class Runner {
   async plan() {
     if (!this.needPlan()) return;
     this.planning = true;
-    const t = now(), c0 = this.cert.counters();
+    const t = now(), c0 = this.cert.counters(), wasCold = this.cold;   // 第八轮：冷启动（含前瞻）与稳态分开记，R9 判稳态
     try { await this._plan(); } finally {
       this.planning = false; this._until = undefined;
       const c1 = this.cert.counters();
-      this.stats.planMs.push(now() - t); this.stats.certQ.push(c1.queries - c0.queries); this.stats.certHit += c1.hits - c0.hits;
+      const dt = now() - t; this.stats.planMs.push(dt); (wasCold ? this.stats.planColdMs : this.stats.planWarmMs).push(dt); this.stats.certQ.push(c1.queries - c0.queries); this.stats.certHit += c1.hits - c0.hits;
     }
   }
   async _plan() {