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a5e779c515aebba5b94e419a5284469cbcab7d4b
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Hark a5e779c515 第五轮：锁/续跑/超时/自动分支/R4 探针与 encode-once/控制台加固；阶段内断点续跑（gen 按条、prep 按 shard、训练与 APG 定时原子存档+体面停止）；分歧以实现方意见为准 2026-10-17 18:57:48 +00:00
Hark b02b8291c4 ml/gen: M1 数据生成器（采样/老师/距离下界认证/时间律/统计/一致性门禁）；ik-solver 增 clearance/gapMatrix/leverBounds 2026-10-17 15:48:19 +00:00