4000s上限优化

This commit is contained in:
2026-09-11 11:16:23 +08:00
parent 9cf94281a9
commit 7dedcd0629
202 changed files with 8609 additions and 38 deletions
@@ -0,0 +1,260 @@
{
"config": {
"field": {
"omega_radius_m": 1800.0,
"channel_min": 1,
"channel_max": 20,
"source_count_min": 10,
"source_count_max": 16,
"r_eff_min_m": 1000.0,
"r_eff_max_m": 1500.0,
"near_radius_m": 5.0,
"clear_radius_m": 20.0,
"bearing_error_half_deg": 1.0,
"bearing_decimals": 2,
"coord_abs_limit_m": 2000000.0,
"directional_half_angle_deg": 90.0,
"max_virtual_duration_s": 360000.0,
"max_real_duration_s": 1200.0,
"test_window_s": 1500.0
},
"cost": {
"speed_mps": 5.0,
"measure_s": 5.0,
"switch_s": 1.0,
"clear_success_s": 5.0,
"clear_fail_s": 3.0
},
"session": {
"arena_id": "default",
"base_url": "http://127.0.0.1:2026",
"robot_id_max_bytes": 64,
"request_id_max_bytes": 128,
"request_body_max_bytes": 65536,
"connect_timeout_s": 5.0,
"read_timeout_s": 15.0,
"max_attempts": 3,
"retry_backoff_s": 0.25,
"reserve_exit_s": 60.0,
"real_rtt_p95_s": 1.0,
"self_test_real_budget_s": 1800.0
},
"search": {
"grid_step_m": 700.0,
"grid_half_cells": 3,
"fallback_clear_grid_m": 20.0,
"bearing_rounding_margin_deg": 0.005,
"polygon_sides": 192,
"witness_spacing_m": 60.0,
"candidate_rings": [
0.0,
0.4,
0.75,
1.0
],
"candidate_angles": 12,
"clear_margin_m": 0.5,
"max_localize_steps": 8,
"max_anomalies_per_channel": 3,
"max_blocked_probes": 4,
"fallback_max_cells": 400,
"persistent_search": false,
"virtual_reserve_s": 10000.0
},
"bayes": {
"particle_spacing_m": 25.0,
"score_mode": "entropy",
"score_subsample": 800,
"mc_representatives": 7,
"lambda_move_s": 0.0105,
"wide_rings": [
1.0,
1.5,
2.0
],
"station_ring_radius_m": 1159.7,
"two_opt_enabled": true,
"two_opt_passes": 3,
"grid_cert_enabled": true,
"opportunistic_measure": true,
"opportunistic_radius_ratio": 0.65,
"opportunistic_discovery_fraction": 0.15
}
},
"source": "local_simulator_only",
"rows": [
{
"case": "random-10-0",
"valid": true,
"virtual_s": 3083.398221,
"measures": 164,
"clears": 10,
"failed_clears": 0,
"distance_m": 10277.0,
"wall_s": 0.8067699000093853
},
{
"case": "random-10-1",
"valid": true,
"virtual_s": 3642.523231,
"measures": 171,
"clears": 10,
"failed_clears": 0,
"distance_m": 12877.6,
"wall_s": 1.4086409000010462
},
{
"case": "random-10-2",
"valid": true,
"virtual_s": 3266.706336,
"measures": 160,
"clears": 10,
"failed_clears": 0,
"distance_m": 11313.5,
"wall_s": 1.6418229000119027
},
{
"case": "random-10-3",
"valid": true,
"virtual_s": 3762.508482,
"measures": 211,
"clears": 10,
"failed_clears": 0,
"distance_m": 12277.5,
"wall_s": 1.7074006000038935
},
{
"case": "random-10-4",
"valid": true,
"virtual_s": 3371.418159,
"measures": 143,
"clears": 10,
"failed_clears": 0,
"distance_m": 12357.1,
"wall_s": 2.1484533000038937
},
{
"case": "random-10-5",
"valid": true,
"virtual_s": 3198.715433,
"measures": 150,
"clears": 10,
"failed_clears": 0,
"distance_m": 11293.6,
"wall_s": 1.6730121000000509
},
{
"case": "boundary-10",
"valid": true,
"virtual_s": 4342.190154,
"measures": 175,
"clears": 10,
"failed_clears": 0,
"distance_m": 16291.0,
"wall_s": 0.7709059999906458
},
{
"case": "random-16-0",
"valid": true,
"virtual_s": 3113.346538,
"measures": 112,
"clears": 16,
"failed_clears": 0,
"distance_m": 11826.7,
"wall_s": 2.458396800007904
},
{
"case": "random-16-1",
"valid": true,
"virtual_s": 3509.22519,
"measures": 113,
"clears": 16,
"failed_clears": 0,
"distance_m": 13771.1,
"wall_s": 2.428945100007695
},
{
"case": "random-16-2",
"valid": true,
"virtual_s": 3280.118211,
"measures": 145,
"clears": 16,
"failed_clears": 0,
"distance_m": 11680.6,
"wall_s": 1.5479743000032613
},
{
"case": "random-16-3",
"valid": true,
"virtual_s": 3384.734199,
"measures": 127,
"clears": 16,
"failed_clears": 0,
"distance_m": 12763.7,
"wall_s": 3.6217957000044407
},
{
"case": "random-16-4",
"valid": true,
"virtual_s": 3358.282938,
"measures": 133,
"clears": 16,
"failed_clears": 0,
"distance_m": 12451.4,
"wall_s": 2.0503644999989774
},
{
"case": "random-16-5",
"valid": true,
"virtual_s": 3953.832941,
"measures": 142,
"clears": 16,
"failed_clears": 0,
"distance_m": 15159.2,
"wall_s": 2.249085699993884
},
{
"case": "boundary-16",
"valid": true,
"virtual_s": 4358.90599,
"measures": 171,
"clears": 16,
"failed_clears": 0,
"distance_m": 16304.5,
"wall_s": 0.8942588000063552
}
],
"mean_s": 3544.7075730714287,
"median_s": 3378.0761789999997,
"max_s": 4358.90599,
"valid": 14,
"under_4000": 12,
"source_sha256": {
"src\\mcm26b\\__init__.py": "a1ea628e2b44a8b288c59fcda19a8f02b53f2d6fec675ef1e8c481ffdcbd7f35",
"src\\mcm26b\\belief\\__init__.py": "8613467122928e70dd2b07f14e1009a1edddb1d495d44f063f222fb118f78ba5",
"src\\mcm26b\\cli.py": "2fac81a16cecdf23ce1f91031009cd2817fd3f2b66cb5f66d0a31bdd16088a04",
"src\\mcm26b\\config.py": "f2c7bf6b6b2cdb4b3a6b1b5e4eec65ecfde9ae6865227c36fe202f8e03c0cc75",
"src\\mcm26b\\coverage\\__init__.py": "ef24a48e91a099ca58a1fd9b5efa01b0bd76c21f63bd5febd444026281ec18c7",
"src\\mcm26b\\evaluation\\__init__.py": "3d7d9103675e4731f65ceacaac76c97096e244d0902e37d62376ea60b0a42217",
"src\\mcm26b\\geometry\\__init__.py": "c8f8d3e6320acb44fe9c14261116f8a668fdd59304e1d5b0318d8d50ea89b25c",
"src\\mcm26b\\geometry\\__main__.py": "41967f321b05abe515d2f0c10839b94c1e5c55a4c760b17345e0815f62acd676",
"src\\mcm26b\\geometry\\localization.py": "019a04a4205ca5cfb5832c7e2337e6ae3274ef9bdae1981c3764b8df8c2afd97",
"src\\mcm26b\\geometry\\planning.py": "5d6a11b2c4633c4f27bb4a61f77f4fbd20cfdce653d839845a735f9f1d3be2d1",
"src\\mcm26b\\particles.py": "c2cfabb07154883d4293f5c739b8ab06bd4b467c773365e1d4c153a0bd0fc30b",
"src\\mcm26b\\planner\\__init__.py": "36620fb5d73b2b257bee1f7bc56f807b7180fc488950aa4c33d5354737f3568b",
"src\\mcm26b\\planner\\bayes_loop.py": "b575206853e25e628ea64d2fe7b5ea165e88c696cf30bccc73f84e30a4bd6ac8",
"src\\mcm26b\\planner\\seven.py": "cc143ce0703f231d8b5444ac6a2b2f4925cabf1556e58b0ea5166a510e6933f0",
"src\\mcm26b\\protocol\\__init__.py": "67423a0fe7f3ee3c7b1c0439da9554dab4bc30a09c5f3720d69e11076a36de0c",
"src\\mcm26b\\protocol\\client.py": "a486694b570bc00286ad30d4be04b01687ef3801d95154e75caa6209314dac36",
"src\\mcm26b\\protocol\\log.py": "0eb51302a0bdfa3c680b7726d0be59cebe6fdc6197fd9643a4d5cc0646e34ac3",
"src\\mcm26b\\protocol\\rules.py": "7941a4cddafd875dedf0c57aa90e640cb5e22201800d3eb300dac313db19e6a3",
"src\\mcm26b\\protocol\\state.py": "dc4c50f38cc1014af848f21d3f972b2f51fba28b0feb3320ce85bf51389d3d34",
"src\\mcm26b\\protocol\\timing.py": "49fb1ca99db9db273364ddb27281b95e6e76099c16ce7fccddccbfe105d604ac",
"src\\mcm26b\\protocol\\transport.py": "668a8ab280e5e42a7994d7cedc0f487af19b140622d76b04da0dbbea3ad4940f",
"src\\mcm26b\\sim\\__init__.py": "7adcbaab5b94d4006ff926306a43c1042182be14789026e71885ed69389a6d55",
"src\\mcm26b\\sim\\playback.py": "073b74c149334604cd678c218e112f69d64fe907ef7c3b6f42b69470e48fbb7a",
"src\\mcm26b\\sim\\scenes.py": "0647bd19409acb5160625dd39e71157aeb20f9e979e82a7fe86aaec75a1cbf32",
"src\\mcm26b\\sim\\simulator.py": "553bf9fbb9fd4875a6ec68792e90a08287e5b87c749ffda9a7556b582a5ecba3",
"src\\mcm26b\\sim\\transport.py": "889c06965fdb905f5d9fa8e947940ea68be216f60a487340c2f326b6e8a9a36d"
}
}