cbb
97f746077a
预注册判据(err_success_med 回到 ~0.22mm 且 time_ok>=0.31)由 20mm 臂满足： 0.2248 mm / 0.3281；到达题组内末态误差符号检验 67差/57好 p=0.42 ⇒ 与控制不可分 (pre h=2 是 82/42 p=4.2e-4，门控5mm 是 79/45 p=0.0029 仍显著变差)。 5→20mm 的分级响应是机理证据：病名是"终端代价的作用区间不够长"，不是"缺终端代价"。 不许只报好的那半：不存在同时占优的阈值——20mm 把 A 类到达打到 94/128(控制与5mm 都是 96)， 5mm 到达最高 0.5469 且行程比最好 2.4218 但精度仍显著变差。到达率在整条轴上都没跨过显著 (净 +3/+6/+5 题，McNemar p=0.68/0.33/0.42)，所以主口径仍写控制值。 四列 collision_rate/over_vmax_rate 全 0、n_plans_mean 全 195.0 ⇒ 没有放松判据、规划次数不变。 下一步 seed=1 复现(控制臂复用 round47_ep_s1)，判读规则已预注册。
111 lines
2.6 KiB
JSON
111 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/round49_gate5_rows.json",
|
||
"out": "docs/experiment_round49_gate5.json",
|
||
"trace": null,
|
||
"select": "pre",
|
||
"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,
|
||
"pre_h": 0,
|
||
"pre_near": 5.0,
|
||
"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": 0.546875,
|
||
"collision_free_success": 0.546875,
|
||
"time_ok_1p3": 0.33203125,
|
||
"collision_rate": 0.0,
|
||
"collision_steps_mean": 0.0,
|
||
"travel_ratio_median": 2.4217512607574463,
|
||
"time_mean_s": 2.3379998207092285,
|
||
"brakes_mean": 19.83984375,
|
||
"start_fail": 0.0,
|
||
"goal_ratio_2s": 0.17014972865581512,
|
||
"err_fail_med": 185.13986206054688,
|
||
"err_success_med": 0.3768002390861511,
|
||
"dls_share": 0.63671875,
|
||
"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": 0.23239436745643616,
|
||
"reverse_mean": 0.23485617339611053,
|
||
"reverse_moving_p50": 0.28134557604789734,
|
||
"moving_share_p50": 0.9583333134651184,
|
||
"brake_rate_mean": 0.10174278169870377,
|
||
"brake_rate_p50": 0.0051282052882015705,
|
||
"brake_rate_p90": 0.35384616255760193,
|
||
"stuck_share": 0.24609375,
|
||
"n_plans_mean": 195.0,
|
||
"success_reachable": 0.5761317014694214,
|
||
"by_cat": {
|
||
"A": [
|
||
128,
|
||
96
|
||
],
|
||
"B": [
|
||
74,
|
||
22
|
||
],
|
||
"C": [
|
||
32,
|
||
14
|
||
],
|
||
"D": [
|
||
13,
|
||
0
|
||
],
|
||
"Dr": [
|
||
9,
|
||
8
|
||
]
|
||
}
|
||
},
|
||
"simulation_wall_s": 332.8420308999921
|
||
}
|