From dc27781a72d3c4b21f4ec2e874de5310680b1378 Mon Sep 17 00:00:00 2001
From: cbb <2625274797@qq.com>
Date: Tue, 20 Oct 2026 03:40:15 +0800
Subject: [PATCH] =?UTF-8?q?exp(dagger-deploy):=20=E9=87=87=E9=9B=86?=
 =?UTF-8?q?=E6=94=AF=E6=8C=81=20fb=5Fgain+safety=EF=BC=88=E8=AE=AD?=
 =?UTF-8?q?=E7=BB=83=E5=88=86=E5=B8=83=3D=E9=83=A8=E7=BD=B2=E5=88=86?=
 =?UTF-8?q?=E5=B8=83=EF=BC=89=EF=BC=9B=E6=96=B0=E5=A2=9E=20base=5Fdag2=20?=
 =?UTF-8?q?=E9=85=8D=E7=BD=AE=EF=BC=88=E5=90=8C=20base=EF=BC=89?=
MIME-Version: 1.0
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---
 ml/configs/base_dag2.json | 11 +++++++++++
 ml/dagger/collect.py      |  4 +++-
 ml/dagger/run.sh          |  2 +-
 3 files changed, 15 insertions(+), 2 deletions(-)
 create mode 100644 ml/configs/base_dag2.json

diff --git a/ml/configs/base_dag2.json b/ml/configs/base_dag2.json
new file mode 100644
index 0000000..3d48d3b
--- /dev/null
+++ b/ml/configs/base_dag2.json
@@ -0,0 +1,11 @@
+{
+  "model": {"d": 192, "heads": 8, "ff": 768, "enc": 4, "dec": 4},
+  "train": {
+    "batch": 1024, "lr": 1e-3, "warmup": 1000, "steps": 24000, "wd": 0.01, "betas": [0.9, 0.95],
+    "amp": "bf16", "grad_clip": 1.0,
+    "w_mf": 1.0, "w_fk": 0.5, "w_smooth": 0.05, "w_value": 0.1, "w_sub": 0.1,
+    "p_neq": 0.5, "p_edge": 0.1, "p_neq_warm": 5000, "fk_tmax": 0.3, "fk_caps": 96,
+    "ema": 0.999, "aug_pre_drop": 0.15, "aug_pre_sigma": 0.1, "aug_dq_sigma": 0.3,
+    "ckpt_min": 10, "eval_every": 2000, "eval_tasks": 512, "log_every": 50, "patience_evals": 5
+  }
+}
diff --git a/ml/dagger/collect.py b/ml/dagger/collect.py
index d601e79..a083a08 100644
--- a/ml/dagger/collect.py
+++ b/ml/dagger/collect.py
@@ -28,6 +28,8 @@ def main():
     ap.add_argument('--parts', type=int, default=8); ap.add_argument('--out', required=True)
     ap.add_argument('--bs', type=int, default=64)
     ap.add_argument('--device', default='cuda' if torch.cuda.is_available() else 'cpu')
+    ap.add_argument('--fb_gain', type=float, default=0.0, help='部署分布采集：目标反馈增益（与 rollout 一致）')
+    ap.add_argument('--safety', type=int, default=0, help='部署分布采集：是否开安全层')
     a = ap.parse_args()
     gap_min = float(os.environ.get('MIN_GAP_MM') or 3)
     os.makedirs(a.out, exist_ok=True)
@@ -41,7 +43,7 @@ def main():
     for i in range(0, len(tasks), a.bs):
         tb = tasks[i:i + a.bs]
         with torch.no_grad():
-            _, per = rollout(model, kin, tb, a.device, K=8, safety=False, seed=a.seed * 100003 + i, return_traj=True)
+            _, per = rollout(model, kin, tb, a.device, K=8, safety=bool(a.safety), seed=a.seed * 100003 + i, return_traj=True, fb_gain=a.fb_gain)
         tr = per['traj'].to(a.device)                                   # [B,T,6]
         B, Tn, _ = tr.shape
         _, T, R, _, _ = tasks_to_tensors(tb, a.device)
diff --git a/ml/dagger/run.sh b/ml/dagger/run.sh
index daa72af..ed038d7 100644
--- a/ml/dagger/run.sh
+++ b/ml/dagger/run.sh
@@ -24,7 +24,7 @@ for ((r=1; r<=R; r++)); do
   SAMPLES="$SAMPLES $SD"
   if [ -f $OUT/done ]; then echo "[dagger] 第 $r 轮已完成，跳过"; CK=$($PY -m ml.common.ckpt pick $OUT); continue; fi
   if [ -f $D/collect.json ]; then echo "[dagger] 第 $r 轮起点已采集，跳过"
-  else echo "[dagger] 第 $r 轮：用 $CK 闭环采起点（$N 题）"; $PY -m ml.dagger.collect --ckpt $CK --samples ml/data/samples --n $N --seed $r --parts $P --out $D; fi
+  else echo "[dagger] 第 $r 轮：用 $CK 闭环采起点（$N 题）"; $PY -m ml.dagger.collect --ckpt $CK --samples ml/data/samples --n $N --seed $r --parts $P --out $D --fb_gain ${FB_GAIN:-0} --safety ${DAG_SAFETY:-0}; fi
   cat $D/collect.json
   pids=()
   for f in $D/tasks_*.jsonl; do