ml: 按运行手册审查修订——头分目录不互相覆盖（ml/runs/<CFG>、selected_ckpt/CKPT）；统一 $PYTHON（Windows Git Bash 可跑）；gen 按实测样本/任务自动补量；R10 改终态判据（≥5k 样本/s≈60k 步≤3.5h）；m5 纯策略/仿真安全层双口径；无老师题定长 6 s 口径；APG 展开随批时长、端点+中点铰链、余量 3 mm（投影同步）；挖错池只用本轮；门禁加 R7；bench 加 R8 对抗集与刹停率、--nc-n/--route-n/--r8-n；新增 check_r2 与 acceptance；export 默认 fp32；出题分块防 OOM；val 为空保护

ml/gen/stats.cjs

@@ -3,7 +3,7 @@
 const fs = require('fs');
 const files = process.argv.slice(2);
 const by = {}; let total = 0, keep = 0, steps = 0, samples = 0, padTail = 0;
-const q = a => { a.sort((x, y) => x - y); return a.length ? { p50: +a[a.length >> 1].toFixed(1), p90: +a[Math.floor(a.length * 0.9)].toFixed(1), max: +a[a.length - 1].toFixed(1) } : null; };
+const q = a => { a.sort((x, y) => x - y); return a.length ? { p10: +a[Math.floor(a.length * 0.1)].toFixed(1), p50: +a[a.length >> 1].toFixed(1), p90: +a[Math.floor(a.length * 0.9)].toFixed(1), max: +a[a.length - 1].toFixed(1) } : null; };
 const plan = [], certMs = [], travel = [], exec = [], gaps = [];
 for (const f of files) for (const line of fs.readFileSync(f, 'utf8').split('\n')) {
   if (!line) continue; const r = JSON.parse(line); total++;
@@ -17,5 +17,6 @@ for (const f of files) for (const line of fs.readFileSync(f, 'utf8').split('\n')
 const out = { tasks: total, keep, keepRate: +(keep / total).toFixed(3), byCatMode: by,
   planMs: q(plan), certMs: q(certMs), vertexMinGapMm: q(gaps), travelDeg: q(travel), execS: q(exec),
   samplesEvery3: samples, samplesPerTask: +(samples / keep).toFixed(1), paddedSampleShare: +(padTail / samples).toFixed(3),
-  projectedSamplesFor50k: Math.round(samples / total * 50000) };
+  projectedSamplesFor50k: Math.round(samples / total * 50000),
+  consensusDrop: Object.values(by).reduce((a, b) => a + b.consensusDrop, 0) };
 console.log(JSON.stringify(out, null, 1));