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

web_platform/src/tuning/domain.ts

@@ -93,8 +93,36 @@ export const PARAMETER_DEFINITIONS: readonly ParameterDefinition[] = [
   parameter('stand_still.command_threshold', '静止命令阈值', 0.02, 0.3, 0.1),
 ] as const;
 
+export const OBSTACLE_PARAMETERS: readonly ParameterDefinition[] = [
+  weight('avoidance_weight', '近障避让', 0.5, 5, 2, false),
+  weight('collision_penalty', '非法接触惩罚', -10, -0.5, -5, false),
+  weight('action_smoothness', '动作平滑', -0.05, -0.001, -0.05, false),
+  parameter('target_velocity', '目标导航速度（m/s，非奖励）', 0.3, 1.2, 0.6),
+];
+export const parameterDefinitions = (taskId?: string) =>
+  taskId === 'Unitree-Go2-ObstacleAvoidance' ? OBSTACLE_PARAMETERS : PARAMETER_DEFINITIONS;
+export const OBSTACLE_OBJECTIVES: ObjectiveWeights = {
+  success: 0.4,
+  time: 0.2,
+  clearance: 0.2,
+  smooth: 0.1,
+  no_fall: 0.1,
+};
+export const OBSTACLE_OBJECTIVE_META = [
+  { key: 'success', label: '无碰撞到达率', shortLabel: '成功', metric: 'success' },
+  { key: 'time', label: '成功到达时间', shortLabel: '时间', metric: 'time' },
+  { key: 'clearance', label: '障碍净距', shortLabel: '净距', metric: 'clearance' },
+  { key: 'smooth', label: '动作平滑', shortLabel: '平滑', metric: 'smooth' },
+  { key: 'no_fall', label: '不跌倒', shortLabel: '防跌', metric: 'no_fall' },
+];
+export const objectiveMeta = (taskId?: string) =>
+  taskId === 'Unitree-Go2-ObstacleAvoidance' ? OBSTACLE_OBJECTIVE_META : OBJECTIVE_META;
+
 export const PARAMETER_BY_PATH = new Map(
-  PARAMETER_DEFINITIONS.map((definition) => [definition.path, definition]),
+  [...PARAMETER_DEFINITIONS, ...OBSTACLE_PARAMETERS].map((definition) => [
+    definition.path,
+    definition,
+  ]),
 );
 
 export const OBJECTIVE_META: ReadonlyArray<{
@@ -134,7 +162,7 @@ export const OBJECTIVE_META: ReadonlyArray<{
 export const STATE_META = {
   queued: { label: '分析排队', phase: 0, tone: 'neutral' },
   running: { label: '策略训练中', phase: 1, tone: 'accent' },
-  evaluating: { label: '固定步态评估中', phase: 2, tone: 'warning' },
+  evaluating: { label: '固定协议评估中', phase: 2, tone: 'warning' },
   awaiting_approval: { label: '等待人工审批', phase: 3, tone: 'warning' },
   paused: { label: '安全暂停', phase: 3, tone: 'neutral' },
   interrupted: { label: '服务已中断', phase: 3, tone: 'warning' },