exp: 轮次38——两段推理开环更贴老师、行程比更近1,但闭环到达降14.8pp:瓶颈移到安全层拒绝率

This commit is contained in:
cbb
2026-10-20 21:51:54 +08:00
parent 3b8682a345
commit e7d1a39519
3 changed files with 170 additions and 0 deletions
+73
View File
@@ -0,0 +1,73 @@
{
"config": {
"ckpt": "ml/runs/base_dag2_dag1/best.pt",
"samples": "ml/data/samples",
"tasks": null,
"split": "val",
"n": 256,
"K": 8,
"commit": 2,
"fb": 2.2,
"ki": 0.0,
"fb_scale": 0.0,
"fb_near": 0.2,
"fb_fallback": 0.0,
"kdecay": 0.9,
"kimax": 0.5,
"fb_every": 1,
"safety_try": 0,
"sel_w": 0.1,
"dls_safety": 1,
"fb_clear": 0.0,
"fb_cmin": 0.3,
"sub_refresh": 0,
"fb_block_gain": 0.5,
"dump": "ml/runs/round36_steps2_cap1_rows.json",
"out": "docs/experiment_round36_steps2_cap1.json",
"trace": null,
"select": "endpoint",
"replan": "empty",
"safety": 1,
"partial": 1,
"inc_cap": 1,
"gap_margin": 0.0,
"cert_batch": 0,
"steps": 2,
"backoff": 0,
"max_sec": null,
"seed": 0,
"dls": "analytic",
"device": "cuda"
},
"batch_size": 256,
"batch_seed_rule": "same seed per batch",
"checkpoint_sha256": "f7f686fd8ee92fb6948fbcc4ee954636065ad87bb54f661c4f8f575bc16c2ce1",
"tasks_sha256": "249bd93457825cda98c59e64d9a096d3473c69aeb3553de1dea6d9e56be71772",
"kin_fp": "2ebcbf17",
"act_scale": 1.0,
"metrics": {
"n": 256,
"n_ref": 256,
"success": 0.39453125,
"collision_free_success": 0.39453125,
"time_ok_1p3": 0.296875,
"collision_rate": 0.0,
"collision_steps_mean": 0.0,
"travel_ratio_median": 1.8436782360076904,
"time_mean_s": 1.9299010038375854,
"brakes_mean": 86.15625,
"start_fail": 0.0,
"goal_ratio_2s": 0.384182870388031,
"err_fail_med": 376.4237976074219,
"err_success_med": 0.2933140993118286,
"dls_share": 0.4453125,
"time_budget": "teacher×2(≥3 s)",
"speed_ratio_p50": 1.0000016689300537,
"speed_ratio_p95": 1.0000038146972656,
"speed_ratio_max": 1.0000101327896118,
"over_vmax_rate": 0.0,
"accel_ratio_p95": 0.8507659435272217,
"accel_ratio_max": 0.9923425912857056
},
"simulation_wall_s": 319.5858334999939
}