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Hark cc43b3d3be docs: Transformer 拟合避障轨迹规划训练方案（最终版）：无老师闭环部署、MeanFlow 动作头（WTA K=8 回退）、距离下界安全认证、APG 后训练与挖错循环、里程碑 M1–M8；附 HTML 版 2026-10-18 06:40:22 +08:00