cbb
0b47905a1c
- build_dataset.cjs：每 10% 打 `[prep] shard_xxxx a/b`（只加日志，不改计算）。新增广 （40%/3°/12，每个增广样本 6 次碰撞检查）让这批打包从上次的 25 分钟涨到约 1 小时， 而原来整片完成前一行输出都没有，看起来像卡死。 - monitor.py prep 分支：解析这些行，按 (已完成分片 + 进行中分片的任务比例)/总分片 算 frac， 按实测速率外推 eta；首批完成前显示"首波处理中，第一批完成后显示预估"。 - pstate/monitor.html：prep 估时 0.5 h → 2.0 h（超时 1.5 h → 6 h），与实际耗时一致。
90 lines
6.5 KiB
JavaScript
90 lines
6.5 KiB
JavaScript
/* 原始老师轨迹 → 闭环训练样本（方案 §4.5 / §5）
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* node ml/prep/build_dataset.cjs ml/data/shard_0001.jsonl [outDir=ml/data/samples]
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* 每条 keep=true 的轨迹按 50 Hz 时间律重放，每 3 步取一个样本：
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* X [N,83] 特征（webapp/js/ik-policy.js features()，与部署同一份代码）
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* Y [N,16,6] 未来 16 步每步增量 / STEP（到终点后补 0）
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* V [N] 剩余时间（s）/ 5
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* SG [N,13] 子目标标签：剩余两个途经点相对当前 q 的差 / 180（不足用终点补）+ 是否需要
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* TID[N] 任务编号（tasks.jsonl 行号所在的全局 id，用于划分与闭环验证）
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* 增广（2026-10-18 首次正式预训练后加大）：40% 样本对 q_t 加 σ=AUG_SIGMA（默认 3°）噪声，标签改为 AUG_BACK（默认 12）步内线性收回老师轨迹；
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* 噪声态须无干涉且间隙 > MIN_GAP_MM，收回途中第 3/6/9/12 步也须无干涉（σ 加大后直接线性拉回可能穿过障碍）。
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* 原为 30%、σ=1°、8 步：闭环一偏出 1° 就是没见过的状态，首次 21850 步闭环到达 0%。更大的偏离由 DAgger 阶段补（ml/dagger）。
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* 已提交前缀长度 r ∈ {0..3} 均匀随机，前缀取老师接下来 r 步的增量。 */
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'use strict';
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const fs = require('fs'), path = require('path');
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const IN = process.argv[2], OUTDIR = process.argv[3] || path.join(__dirname, '../data/samples');
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if (!IN) { console.error('usage: build_dataset.cjs <shard.jsonl> [outDir]'); process.exit(1); }
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const { S } = require('../../tests/route_bench_setup.cjs')();
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const POL = require('../../webapp/js/ik-policy.js');
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const { timeParam } = require('../gen/timelaw.cjs');
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const { writeNpy } = require('./npy.cjs');
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const { F_DIM, STEP, H } = POL;
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const L = S.LIM, O = S.ORDER;
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const base = path.basename(IN, '.jsonl');
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let st = 0; for (const ch of base) st = (st * 31 + ch.charCodeAt(0)) >>> 0;
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const rnd = () => { st = (st * 1664525 + 1013904223) >>> 0; return st / 4294967296; };
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const gauss = () => Math.sqrt(-2 * Math.log(rnd() + 1e-12)) * Math.cos(2 * Math.PI * rnd());
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const hash = s => { let h = 2166136261; for (const c of s) h = Math.imul(h ^ c.charCodeAt(0), 16777619); return h >>> 0; };
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const X = [], Y = [], V = [], SG = [], TID = [], tasks = [];
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const lines = fs.readFileSync(IN, 'utf8').split('\n').filter(Boolean);
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let nAug = 0, nAugRej = 0, nGapDrop = 0;
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/* 2026-10-18：认证最小间隙 < 3 mm 的老师轨迹不进训练集；噪声增广接受地板同步为 3 mm（原 1 mm）。 */
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const MIN_GAP_MM = +(process.env.MIN_GAP_MM || 3);
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const AUG_P = +(process.env.AUG_P || 0.4), AUG_SIGMA = +(process.env.AUG_SIGMA || 3), AUG_BACK = +(process.env.AUG_BACK || 12);
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const NT = lines.length, PSTEP = Math.max(1, Math.floor(NT / 10));
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for (let li = 0; li < NT; li++) {
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if (li % PSTEP === 0) console.log(`[prep] ${base} ${li}/${NT}`); // 每 10% 一行，28 个分片并行也看得见进度
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const line = lines[li];
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const r = JSON.parse(line);
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if (!r.keep) continue;
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if (r.cert && r.cert.minGap != null && r.cert.minGap < MIN_GAP_MM) { nGapDrop++; continue; } // 与 stats.cjs 同一过滤
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const tid = hash(r.id) & 0x7fffffff;
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const split = (hash(r.id + '#split') % 100) < 5 ? 'val' : 'train';
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const P = r.path;
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const tp = timeParam(P);
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const traj = tp.traj, taus = tp.taus, N = traj.length - 1;
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tasks.push({ tid, id: r.id, cat: r.cat, mode: r.mode, q0: r.q0, T: r.T, R: r.R, exec_s: N * POL.DT, travel: r.travel_deg, reached: r.reached, err: r.err, split });
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const vt = tp.cum; // 顶点 τ
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const inter = P.slice(1, -1).map((p, i) => ({ p, tau: vt[i + 1] }));
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for (let t = 0; t <= N; t += 3) {
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let q = traj[t].slice(), qPrev = (t > 0 ? traj[t - 1] : traj[0]).slice();
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let off = [0, 0, 0, 0, 0, 0], aug = false;
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if (rnd() < AUG_P) {
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const qn = q.map((v, j) => { let x = v + AUG_SIGMA * gauss(); const t2 = L[O[j]]; if (!t2.cont) x = Math.max(t2.lo, Math.min(t2.hi, x)); return x; });
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nAug++;
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const o2 = qn.map((v, j) => v - q[j]);
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const back = k => traj[Math.min(N, t + k)].map((v, j) => v + o2[j] * Math.max(0, 1 - k / AUG_BACK));
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if (S.collideFree(qn) && S.clearance(qn, 5) > MIN_GAP_MM && [3, 6, 9, 12].every(k => k >= AUG_BACK || S.collideFree(back(k)))) {
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off = o2; q = qn; qPrev = qPrev.map((v, j) => v + off[j]); aug = true;
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} else nAugRej++;
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}
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const pos = k => { const i = Math.min(N, t + k); const w = aug ? Math.max(0, 1 - k / AUG_BACK) : 0; return traj[i].map((v, j) => v + off[j] * w); };
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const y = new Float32Array(H * 6);
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let prevP = q;
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for (let k = 1; k <= H; k++) { const pk = pos(k); for (let j = 0; j < 6; j++) y[(k - 1) * 6 + j] = Math.max(-1, Math.min(1, (pk[j] - prevP[j]) / STEP[j])); prevP = pk; }
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const rr = Math.floor(rnd() * 4), prefix = [];
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for (let k = 0; k < rr; k++) { const row = []; for (let j = 0; j < 6; j++) row.push(y[k * 6 + j] * STEP[j]); prefix.push(row); }
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const remain = inter.filter(v => v.tau > taus[t] + 0.02);
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const sub = remain.length && rnd() < 0.8 ? remain[0].p : null;
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const gm = S.gapMatrix(q, POL.GAP_CAP);
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const f = POL.features(S, { q, qPrev, T: r.T, R: r.R, prefix, sub }, gm);
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const v1 = remain[0] ? remain[0].p : P[P.length - 1], v2 = remain[1] ? remain[1].p : P[P.length - 1];
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const sg = new Float32Array(13);
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for (let j = 0; j < 6; j++) { sg[j] = (v1[j] - q[j]) / 180; sg[6 + j] = (v2[j] - q[j]) / 180; }
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sg[12] = remain.length ? 1 : 0;
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X.push(f); Y.push(y); V.push((N - t) * POL.DT / 5); SG.push(sg); TID.push(tid);
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}
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}
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fs.mkdirSync(OUTDIR, { recursive: true });
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const n = X.length;
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const cat = (arrs, w) => { const o = new Float32Array(n * w); arrs.forEach((a, i) => o.set(a, i * w)); return o; };
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writeNpy(path.join(OUTDIR, base + '.X.npy'), cat(X, F_DIM), [n, F_DIM]);
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writeNpy(path.join(OUTDIR, base + '.Y.npy'), cat(Y, H * 6), [n, H, 6]);
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writeNpy(path.join(OUTDIR, base + '.V.npy'), Float32Array.from(V), [n]);
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writeNpy(path.join(OUTDIR, base + '.SG.npy'), cat(SG, 13), [n, 13]);
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writeNpy(path.join(OUTDIR, base + '.TID.npy'), TID, [n], 'int32');
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// 2026-10-18 断点续跑：tasks.jsonl 最后写、先写 .tmp 再改名 —— 它存在就代表这个 shard 的 5 个 npy 都已写完，run_prep.sh 据此跳过
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const tf = path.join(OUTDIR, base + '.tasks.jsonl');
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fs.writeFileSync(tf + '.tmp', tasks.map(t => JSON.stringify(t)).join('\n') + '\n'); fs.renameSync(tf + '.tmp', tf);
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console.log(JSON.stringify({ shard: base, tasks: tasks.length, samples: n, aug: nAug, augRejected: nAugRej, gapDrop: nGapDrop, featVer: POL.FEAT_VER }));
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