cbb
72c8835229
两臂 n=256 同 seed 背靠背(配方=轮次42 K8+cert_batch=1+inc_cap=1)：到达 0.5234→0.5039 (-1.95pp，逐题配对丢6赢1净-5，McNemar 精确 p=0.125 与零不可分)，时限内 +1.17pp、 刹停 -9%、行程比 -0.076、执行碰撞仍为 0(判据未放松)。丢的 6 题 5 题在 A 类(开阔区) =买余量卖进度的签名。 仪表与离线数交叉验证：改选率 5.58% 对上轮次44 独立测得的"执行点间隙落在 0.2–0.5mm 占 5.6%"，并列率 79.0% 对上"满前缀 79.4%" ⇒ 分辨率上界被宽相位截顶 gcap=max(0.5,margin+0.5) 锁死，5.6% 是这个家族在 cap=0.5 下的天花板，不是实现没调好。 结构性发现：#24 作用在错的人群——tie 只在 maxlen>0 触发，而失败主人群是全拒(maxlen=0， 未到达题 22% 的规划)；全拒那条已由 backoff(轮次43)判掉。前置条件记为 #28(gcap 与 gap_margin 解耦)。 实现账：新增 tie 与触发计数器(生产端 per 数组+dump 键、消费端汇总 tie_* 同批改完， tie=0 时 22/22 老键逐位复现)；修掉 tie 分支局部名 nmax 顶掉主循环总步数的遮蔽 bug， 守卫单测做过变异检查；计数器正对照可手算(tie_opp=tie_changed=n_plans)。47 项测试绿。
109 lines
2.6 KiB
JSON
109 lines
2.6 KiB
JSON
{
|
||
"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/round45_tie0_rows.json",
|
||
"out": "docs/experiment_round45_tie0.json",
|
||
"trace": null,
|
||
"select": "endpoint",
|
||
"replan": "empty",
|
||
"safety": 1,
|
||
"partial": 1,
|
||
"inc_cap": 1,
|
||
"gap_margin": 0.0,
|
||
"cert_batch": 1,
|
||
"steps": 1,
|
||
"z_scale": 1.0,
|
||
"len_w": 0.0,
|
||
"tie": 0,
|
||
"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": 0.5234375,
|
||
"collision_free_success": 0.5234375,
|
||
"time_ok_1p3": 0.265625,
|
||
"collision_rate": 0.0,
|
||
"collision_steps_mean": 0.0,
|
||
"travel_ratio_median": 2.615795850753784,
|
||
"time_mean_s": 2.486567258834839,
|
||
"brakes_mean": 19.5546875,
|
||
"start_fail": 0.0,
|
||
"goal_ratio_2s": 0.27920001745224,
|
||
"err_fail_med": 204.71360778808594,
|
||
"err_success_med": 0.21751396358013153,
|
||
"dls_share": 0.61328125,
|
||
"time_budget": "teacher×2(≥3 s)",
|
||
"speed_ratio_p50": 1.0000016689300537,
|
||
"speed_ratio_p95": 1.0000101327896118,
|
||
"speed_ratio_max": 1.0000101327896118,
|
||
"over_vmax_rate": 0.0,
|
||
"accel_ratio_p95": 1.0000016689300537,
|
||
"accel_ratio_max": 1.0000101327896118,
|
||
"reverse_p50": 0.24741201102733612,
|
||
"reverse_mean": 0.25991496443748474,
|
||
"reverse_moving_p50": 0.32581019401550293,
|
||
"moving_share_p50": 0.9587156176567078,
|
||
"brake_rate_mean": 0.10028044879436493,
|
||
"brake_rate_p50": 0.0051282052882015705,
|
||
"brake_rate_p90": 0.3153846263885498,
|
||
"stuck_share": 0.234375,
|
||
"n_plans_mean": 195.0,
|
||
"success_reachable": 0.5514403581619263,
|
||
"by_cat": {
|
||
"A": [
|
||
128,
|
||
96
|
||
],
|
||
"B": [
|
||
74,
|
||
20
|
||
],
|
||
"C": [
|
||
32,
|
||
11
|
||
],
|
||
"D": [
|
||
13,
|
||
0
|
||
],
|
||
"Dr": [
|
||
9,
|
||
7
|
||
]
|
||
}
|
||
},
|
||
"simulation_wall_s": 317.56223549999413
|
||
}
|