cbb
3c250c7df3
2 s 误差比逐题符号检验 s0 192好/64差 p=4.9e-16、s1 191/65 p=1.5e-15；时限内(≤1.3×老师) 0.2656→0.3320(+6.64pp)、0.2969→0.3398(+4.30pp)；行程比 −0.171/−0.171；碰撞仍 0、超 VMAX 仍 0。 到达只 +5/+3 题(McNemar p=0.42/0.68 ⇒ 噪声)，故不改默认口径、作可选口径入库。 代价：到达题末态误差 0.22→0.42 mm(判据壳 1 mm 内，余量 4.6×→2.4×)，两 seed 都涨。 对照可比性先证：控制臂 tie0 与轮次42 round42_K8cb1 的 22/22 键逐位相同 ⇒ 该配方跨窗口确定性 复现，本轮起新杠杆可用单臂对已落盘控制。 实现：select='pre' 用 fut[:,:,commit_n-1] 的终点误差(同一次 goal_err 只换点集)；两条可手算正对照 (前缀好/末端差 vs 末端好/前缀差 ⇒ 两口径必须选相反候选) + 不变式(commit_n=16 时与 endpoint 同选)； 49 项测试绿；n=16 冒烟证非惰性。候选表同步修准：backoff/ep_waste 两行状态改判掉，#29/#30 登记。
97 lines
2.4 KiB
JSON
97 lines
2.4 KiB
JSON
{
|
||
"config": {
|
||
"ckpt": "ml/runs/base_dag2_dag1/best.pt",
|
||
"samples": "ml/data/samples",
|
||
"tasks": null,
|
||
"split": "val",
|
||
"n": 16,
|
||
"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": null,
|
||
"out": "docs/experiment_round46_ep16_smoke.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": "7b7c219c70d15b280682fe0626192b267f0e4dfd843b1e70fb279e148eb6eaa3",
|
||
"kin_fp": "2ebcbf17",
|
||
"act_scale": 1.0,
|
||
"metrics": {
|
||
"n": 16,
|
||
"n_ref": 16,
|
||
"success": 0.375,
|
||
"collision_free_success": 0.375,
|
||
"time_ok_1p3": 0.25,
|
||
"collision_rate": 0.0,
|
||
"collision_steps_mean": 0.0,
|
||
"travel_ratio_median": 2.426271438598633,
|
||
"time_mean_s": 2.680000066757202,
|
||
"brakes_mean": 24.9375,
|
||
"start_fail": 0.0,
|
||
"goal_ratio_2s": 0.43800246715545654,
|
||
"err_fail_med": 231.5127410888672,
|
||
"err_success_med": 0.2731371223926544,
|
||
"dls_share": 0.5,
|
||
"time_budget": "teacher×2(≥3 s)",
|
||
"speed_ratio_p50": 1.0000016689300537,
|
||
"speed_ratio_p95": 1.0000053644180298,
|
||
"speed_ratio_max": 1.0000101327896118,
|
||
"over_vmax_rate": 0.0,
|
||
"accel_ratio_p95": 1.0000016689300537,
|
||
"accel_ratio_max": 1.0000016689300537,
|
||
"reverse_p50": 0.22442243993282318,
|
||
"reverse_mean": 0.2425607144832611,
|
||
"reverse_moving_p50": 0.30572596192359924,
|
||
"moving_share_p50": 0.7567567825317383,
|
||
"brake_rate_mean": 0.14249999821186066,
|
||
"brake_rate_p50": 0.07428571581840515,
|
||
"brake_rate_p90": 0.3571428656578064,
|
||
"stuck_share": 0.3125,
|
||
"n_plans_mean": 175.0,
|
||
"success_reachable": 0.375,
|
||
"by_cat": {
|
||
"A": [
|
||
8,
|
||
4
|
||
],
|
||
"B": [
|
||
8,
|
||
2
|
||
]
|
||
}
|
||
},
|
||
"simulation_wall_s": 35.48499080000329
|
||
}
|