feat(web-platform): release V0.9.3 全模块界面重构

2026-09-08 17:57:57 +08:00
parent 831d0b95bb
commit 13e35be98b
124 changed files with 5182 additions and 2141 deletions
@@ -0,0 +1,99 @@
+import type { TuningSession } from '../src/training/types';
+const objectives = {
+  velocity_tracking: 0.35,
+  action_smoothness: 0.2,
+  posture_stability: 0.15,
+  fall_avoidance: 0.15,
+  foot_slip: 0.1,
+  energy: 0.05,
+};
+
+export function tuningFixture(): TuningSession {
+  const baseConfig = { weights: { pose: 1 }, params: {} };
+  const resultConfig = { weights: { pose: 1.1 }, params: {} };
+  return {
+    id: 'a'.repeat(32),
+    state: 'awaiting_approval',
+    mode: 'approval',
+    createdAt: '2026-01-01T00:00:00Z',
+    updatedAt: '2026-01-01T00:02:00Z',
+    config: {
+      taskId: 'Unitree-Go2-Flat',
+      mode: 'approval',
+      runName: '界面验收会话',
+      numEnvs: 16,
+      seed: 42,
+      gpuIds: [0],
+      trialCount: 2,
+      initialIterations: 300,
+      middleIterations: 900,
+      finalIterations: 2000,
+      evalNumEnvs: 8,
+      evalSteps: 10,
+      objectiveWeights: objectives,
+      fallbackEnabled: false,
+      rungs: [300, 900, 2000],
+      promote: [2, 2, 2],
+    },
+    objectiveWeights: objectives,
+    message: 'paused',
+    bestTrialId: '2'.repeat(32),
+    consecutiveNoImprove: 0,
+    fallbackEnabled: false,
+    trials: [
+      {
+        id: '1'.repeat(32),
+        sessionId: 'a'.repeat(32),
+        number: 0,
+        state: 'completed',
+        rung: 0,
+        targetIterations: 300,
+        rewardConfig: baseConfig,
+        score: 0,
+        eligible: true,
+        createdAt: '2026-01-01T00:00:00Z',
+        message: 'done',
+      },
+      {
+        id: '2'.repeat(32),
+        sessionId: 'a'.repeat(32),
+        number: 1,
+        state: 'completed',
+        rung: 0,
+        targetIterations: 300,
+        rewardConfig: resultConfig,
+        proposalId: '3'.repeat(32),
+        score: 0.12,
+        eligible: true,
+        evaluation: {
+          metrics: { linear_velocity_rmse: 0.2 },
+          score: { score: 0.12, eligible: true, components: { velocity_tracking: 0.2 } },
+        },
+        createdAt: '2026-01-01T00:01:00Z',
+        message: 'done',
+      },
+    ],
+    proposals: [
+      {
+        id: '3'.repeat(32),
+        sessionId: 'a'.repeat(32),
+        baseTrialId: '1'.repeat(32),
+        state: 'pending',
+        source: 'agent',
+        patch: { weights: { pose: 1.1 }, params: {} },
+        rationale: '提高姿态奖励以降低躯干倾角。',
+        expectedImpact: { posture_stability: '姿态误差预计下降 8%' },
+        confidence: 0.82,
+        createdAt: '2026-01-01T00:00:30Z',
+      },
+    ],
+    audit: [],
+    control: {
+      runPolicy: 'step',
+      dispatchTokens: 0,
+      constraintsRevision: 0,
+      constraints: {},
+      effectiveAfterCurrent: false,
+    },
+  };
+}