8e62716ce4
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>
82 lines
4.0 KiB
Markdown
82 lines
4.0 KiB
Markdown
# SR Analysis Pipeline — Handover Notes (2026-06-15)
|
||
|
||
## 交接人 → 接手人
|
||
|
||
### 当前管线状态
|
||
|
||
| 模块 | 状态 | 说明 |
|
||
|------|:----:|------|
|
||
| Illusion 0.75L + 1L phase-state + abs | **已验证** | 闭环 0.974 / 0.958，无动作历史，可进 PySR |
|
||
| Illusion 1.5L | **边界 case** | bang-bang 机制，线性 SINDy 不适用 |
|
||
| Karman phase-state + abs | **0.699** | 优于 deriv 模式，但低于旧 v23 的 0.901 |
|
||
| Karman old v23 (a_lag) | **0.901** | 保留作基线对照 |
|
||
| Karman 泛化测试 | **已完成** | Re70/150/300/25 约 0.54-0.60 |
|
||
| PySR 符号回归 | **有 shell** | 需要修复 run_pysr.py 后重新跑 |
|
||
| Vortex 偏移扩展 | **未做** | 低优先级 |
|
||
|
||
### 核心文件改动（2026-06-14~15）
|
||
|
||
| 文件 | 改动类型 |
|
||
|------|----------|
|
||
| `utils/feature_builder.py` | **新增** PHASE_STATE_KEYS, ILLUSION_PHASE_KEYS, KARMAN_EXPANDED_KEYS, obs dynamics, error-state, mu_Cl_tot |
|
||
| `utils/sindy_fitter.py` | **新增** compute_action_deriv, get_feature_matrix_deriv(output_mode) |
|
||
| `sindy/run_all_v2.py` | **新增** --deriv, --phase, --karman-expand, --karman-mu, --output-mode, --augment-level CLI |
|
||
| `validate/run_closed_loop.py` | **新增** predict_v23_deriv, mode="abs", load_sindy_coefs返回mode |
|
||
| `validate/run_closed_loop_illusion.py` | **修改** 支持 predict_v23_deriv, 自动检测模式 |
|
||
| `validate/eval_rollout.py` | **新文件** 离线多步 rollout 评估 |
|
||
| `scripts/plot_sr_results.py` | **新文件** 结果可视化图表 |
|
||
| `docs/SR_analysis_results.md` | **新文件** 完整分析报告 |
|
||
| `docs/figures/SR_analysis/fig*.png` | **新文件** 6 张图表 |
|
||
|
||
### 关键设计决策（接手前必读）
|
||
|
||
1. **phase-state 特征** = `u_a, du_a/dt, Cl_tot, dCl_tot/dt, Cd_tot, Cd_rear` (6维)
|
||
2. **ILLUSION_PHASE_KEYS** = phase-state + `Cd_err, Cl_err, dCd_err/dt, dCl_err/dt` (10维)
|
||
3. **绝对动作输出** `output_mode="absolute"` 优于导数 `"deriv"`，无积分累积
|
||
4. **v23 结构**始终默认：front no-bias, rear shared-head
|
||
5. **时间一阶导**统一除以 `dt_c = SAMPLE_INTERVAL/2000`，跨场景可比较
|
||
6. `controlled.npz` 中新加了 `target_forces` 字段，illusion 场景必须有
|
||
7. **FIFO bias ≠ DRL action bias**，1U vs 2U 不要混淆
|
||
|
||
### 常用命令速查
|
||
|
||
```bash
|
||
# 拟合 + 验证 Illusion phase-state + absolute (完整流程)
|
||
conda run -n pycuda_3_10 python src/SR_analysis/sindy/run_all_v2.py \
|
||
--scenes illusion_0.75L,illusion_1L --deriv --phase --output-mode absolute
|
||
conda run -n pycuda_3_10 python src/SR_analysis/validate/run_closed_loop_illusion.py \
|
||
--scene illusion_0.75L --device 0 --steps 320 \
|
||
--sindy-results src/SR_analysis/sindy/illusion/sindy_results_deriv.json
|
||
|
||
# 拟合 + 验证 Karman phase-state + absolute
|
||
conda run -n pycuda_3_10 python src/SR_analysis/sindy/run_all_v2.py \
|
||
--scenes karman_re100 --deriv --phase --output-mode absolute
|
||
conda run -n pycuda_3_10 python src/SR_analysis/validate/run_closed_loop.py \
|
||
--scene karman_re100 --device 0 --steps 200 --mode abs \
|
||
--sindy-results src/SR_analysis/sindy/karman/sindy_results_deriv.json
|
||
|
||
# 离线 rollout 评估
|
||
python3 src/SR_analysis/validate/eval_rollout.py \
|
||
--sindy-results src/SR_analysis/sindy/karman/sindy_results_deriv.json \
|
||
--scene karman_re100
|
||
|
||
# PySR (需要先修复滞后的 bug！)
|
||
conda run -n sr_env python src/SR_analysis/sindy/run_pysr.py --scene illusion_1L
|
||
|
||
# 画图
|
||
python3 scripts/plot_sr_results.py
|
||
```
|
||
|
||
### 目前最适合推进的方向
|
||
|
||
1. **Illusion PySR 符号回归**（0.75L + 1L separate → 公式比较）
|
||
2. **Karman 状态补强**（配合 CCD/OID 分析找出缺失的状态量，再回 SR）
|
||
3. **Karman 跨 Re 联合**（在 phase-state + mu 基础上做跨 Re 联合拟合 + 泛化）
|
||
|
||
### 注意重新运行 run_pysr.py
|
||
|
||
当前 `run_pysr.py` 有路径/导入问题，接手后需先确认：
|
||
- `env_sr` 或 `sr_env` 环境内的 PySR 可用性
|
||
- whitelist 特征与 `controlled.npz` 中的字段匹配（特别是 illusion 的 `target_forces`）
|
||
- 滞后构造正确（`a_prev[1:] = actions_phys[:-1]`）
|