feat(training): release V0.9.1 避障训练与基础策略迁移

training_server/rl/scripts/validate_pretrained.py

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+"""Service-owned CPU validator; JSON stdin is never accepted directly from HTTP."""
+
+import json
+import sys
+from dataclasses import asdict
+from pathlib import Path
+
+ROOT = Path(__file__).resolve().parents[1]
+for root in (ROOT, ROOT.parent):
+    sys.path.insert(0, str(root))
+
+
+def main():
+    from pretrained import read_pretrained_source
+    from task_config import OBSTACLE_TASK
+    from src.tasks.velocity.config.go2.env_cfgs import unitree_go2_flat_env_cfg
+    from src.tasks.velocity.config.go2.rl_cfg import unitree_go2_ppo_runner_cfg
+
+    payload = json.loads(sys.stdin.read(128 * 1024))
+    task_id = payload["taskId"]
+    if task_id == "Unitree-Go2-Flat":
+        cfg = unitree_go2_flat_env_cfg()
+    elif task_id == OBSTACLE_TASK:
+        from src.tasks.obstacle_avoidance.env_cfg import unitree_go2_obstacle_env_cfg, apply_obstacle_configuration
+        cfg = unitree_go2_obstacle_env_cfg()
+        if payload.get("taskConfig") is not None:
+            apply_obstacle_configuration(cfg, payload["taskConfig"])
+    else:
+        raise ValueError("基础策略不兼容该任务；支持Flat47与Obstacle81/97，不支持Rough")
+    directory = Path(payload["directory"])
+    options = {}
+    if payload.get("uploaded"):
+        from pretrained_upload import read_uploaded_source
+        read_pretrained_source = read_uploaded_source
+        options["manifest_path"] = directory / "upload.json"
+    source = read_pretrained_source(
+        directory / payload["checkpoint"], allowed_roots=[directory], target_env=asdict(cfg),
+        target_agent=asdict(unitree_go2_ppo_runner_cfg()), **options,
+    )
+    print(json.dumps(source.manifest))
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except Exception as error:
+        print(f"基础策略不兼容或缺少配套文件/依赖：{error}", file=sys.stderr)
+        sys.exit(1)