cbb

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• Joined on 2026-05-14

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cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 12:49:41 +08:00

7e99b333ea exp: 轮次25——实时节奏(commit3)准确率：候选平均29.7%/冻结编码器34.4%/commit4 28.9%，均低于基线36.3%；效率：ORT CPU推理3.9ms+gm_groups，单次规划~32ms，50Hz异步可行

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 12:38:59 +08:00

79519b042c perf+exp: gm_groups 只算特征 8 组（数值一致，features 10.4→7.1ms）；混合节奏负结论（执行反馈无提升）；浏览器部署 dag2 ONNX + fbGain/commit 参数（bench 刹车 47% 待调）；实时口径改为异步规划+tick

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 12:20:36 +08:00

3b748c811c perf(closed_loop): DLS 批量雅可比（25→10-17ms，数值差≤0.013°）+ 单题安全层早停；实时评估：单次规划 40-80ms 超 50Hz 预算 2-4 倍；实时节奏下每3步 36.3%、每6步 14.8%（每步 42.2% 不可实时）

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 10:10:28 +08:00

26eb0815c2 exp(dagger-deploy): 轮次22——冻结编码器微调（开环保住15.8mm vs 19.5）但部署到达41.8%仍低于dag2 43.8%；训练侧四种方法均未超基线，训练探索到此平台

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 09:41:46 +08:00

7a8e5aab63 exp(dagger-deploy): 轮次21——DAgger-3（部署配置采集500题+15000步微调）负结论：部署口径 39.5% vs dag2 43.8%，开环退化到19.5mm；下一步试冻结编码器只调解码器

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 08:42:34 +08:00

bb919d33c9 exp(dagger-deploy): 轮次20——反馈蒸馏（17.7万样本+3000步微调）负结论：gain=0 时到达仅0.8%（反馈未内化），gain1.8 与基线持平（43.4 vs 43.8）

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 07:57:02 +08:00

ff160f576e exp(dagger-deploy): 轮次19——APG 修复两个既有 bug（_cat_gaps in-place、段边界 queue.detach 无梯度）后可跑，但碰撞铰链尺度失控（40万）且与部署形态不一致，暂不采用；转反馈蒸馏

cbb deleted branch feat/fb-mix from cbb/Robot_Arm 2026-10-20 07:40:24 +08:00

cbb deleted branch feat/abs-target from cbb/Robot_Arm 2026-10-20 07:40:24 +08:00

cbb pushed tag archive/abs-target to cbb/Robot_Arm 2026-10-20 07:40:23 +08:00

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 07:40:20 +08:00

5675159987 docs(探索日志): 分支清理记录——fb-mix 已并入 exp/dagger-deploy 后删除；abs-target 打 archive tag 后删远端分支

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 07:23:18 +08:00

39c870c1cf exp(dagger-deploy): 轮次18收尾——n=512 gain1.8 到达42.2%/碰撞2.9%/ratio0.270/time_ok29.1%/870ms（历史最佳）；保守版 gain1.5 40.8%/2.1%；探索日志统计更新

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 07:13:01 +08:00

7be41cb1ad exp(dagger-deploy): 轮次17——每步规划下 gain1.8 到达 43.8%/碰撞1.6%/ratio0.216/time_ok28.9%（新最佳）；gain2.2/3.0 时间效率更高但到达降、刹停暴涨（3.0:123次/题过冲）

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 06:57:27 +08:00

6c2af53d18 exp(dagger-deploy): 轮次16——n=512 稳定：每步规划+部分前缀 到达40.8%/碰撞2.1%/ratio0.309/time_ok25.0%/852ms（历史最佳，较基线 0% +40.8pp）

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 06:47:02 +08:00

f5f394a4bf exp(dagger-deploy): 轮次15——每步规划(commit_n=1)：到达 41.8%、time_ok 21.5%（+57%）、ratio 0.259、碰撞 2.3%、967ms（新历史最佳）；修复 ok6 视图硬编码

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 06:26:34 +08:00

76ac563d21 exp(dagger-deploy): 部分安全前缀（执行到首个不安全步）——刹停 27.4→8.6、到达 38.3%、碰撞 1.6%；新增 commit_n 参数（每步规划实验）；更正 replan=empty 实为 r=0 规划非每步

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 05:51:15 +08:00

de009bd516 exp(dagger-deploy): 轮次12——n=512 稳定：gain1.5+每步重规划 到达33.4%/碰撞1.0%/ratio0.399/刹停28.1/738ms（历史最佳）；gain1.2 保守版 32.6%/1.0%/18.6 刹停；监控页回写已验证

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 05:35:45 +08:00

29f3887be1 feat(monitor): 控制台新增「闭环探索日志」卡片——/api/explore 读取 docs/探索日志.md，Edge headless 截图验证渲染正常（http://127.0.0.1:8100）

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 05:34:42 +08:00

fe48b4e777 exp(dagger-deploy): 轮次11——n=256 复核（前128题偏难）：gain1.5+每步重规划 到达36.7%/碰撞1.6%/ratio0.323/刹停27.4/760ms（新最佳）；gain1.0 更保守 31.6%/0.8%

cbb pushed to exp/dagger-deploy at cbb/Robot_Arm 2026-10-20 05:24:23 +08:00

4de5e03a0b exp(dagger-deploy): 轮次10——每步重规划下 gain1.5 达 28.9%/0.8%/0.411/刹停28.5/844ms（新最佳）；gain1.0 碰撞 0.0% 但到达 22.7%；待 n=256 复核