Frank14f 8e62716ce4 SR Analysis: Phase-state SINDy + ablation study + documentation ...

Core changes:
- New phase-state features (PHASE_STATE_KEYS, ILLUSION_PHASE_KEYS) with obs dynamics
- Derivative and absolute output modes (output_mode="deriv"|"absolute")
- predict_v23_deriv() with integration support for closed-loop
- Offline multi-step rollout evaluator (eval_rollout.py)

Key results:
- Illusion 0.75L/1L: phase-state+error-state+abs achieves 0.974/0.958 closed-loop
  with zero action history features — proving the new route works
- Karman re100: phase-state+abs reaches 0.699 (vs 0.901 with action history)
- 1.5L confirmed as bang-bang regime (R2=0.12 for linear SINDy)
- Feature ablation: 6-dim phase-state outperforms 16-dim full-lag in closed-loop

Documentation:
- docs/SR_analysis_results.md: comprehensive analysis report
- docs/HANDOVER_SR_ANALYSIS.md: handover notes for next coder
- 6 figures in docs/figures/SR_analysis/
- Updated README.md, sindy_sr_notes.md, sindy_sr_knowledge.md
- Updated configs.py with generalization scenes

Co-authored-by: Cursor <cursoragent@cursor.com>

2026-06-22 16:55:03 +08:00

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