feat(training): release V0.8 自调参 Agent

web_platform/src/training/LocalTrainingClient.test.ts

@@ -51,6 +51,81 @@ describe('LocalTrainingClient', () => {
     ).rejects.toThrow('已有训练任务正在运行');
   });
 
+  it('调用调参 session、metrics 与审批接口且不泄露令牌到 URL', async () => {
+    const fetchMock = vi.fn().mockImplementation(() =>
+      Promise.resolve(
+        new Response(JSON.stringify({ id: 'b'.repeat(32), state: 'running', series: [] }), {
+          status: 200,
+          headers: { 'Content-Type': 'application/json' },
+        }),
+      ),
+    );
+    vi.stubGlobal('fetch', fetchMock);
+    const client = new LocalTrainingClient('http://127.0.0.1:8765', 'deep-secret');
+    await client.tuningMetrics('a'.repeat(32), 'b'.repeat(32), ['Evaluation/score'], 500);
+    await client.decideProposal('a'.repeat(32), 'c'.repeat(32), 'approve', {
+      feedback: 'ok',
+      patch: { weights: { pose: 1.1 }, params: {} },
+    });
+    expect(fetchMock.mock.calls[0][0]).toContain('/api/tuning/sessions/');
+    expect(fetchMock.mock.calls[0][0]).toContain('maxPoints=500');
+    expect(fetchMock.mock.calls[0][0]).not.toContain('deep-secret');
+    const approval = fetchMock.mock.calls[1][1] as RequestInit;
+    expect(approval.method).toBe('POST');
+    expect(new Headers(approval.headers).get('Authorization')).toBe('Bearer deep-secret');
+  });
+
+  it('覆盖调参生命周期、preset 与最佳策略下载客户端方法', async () => {
+    const fetchMock = vi.fn().mockImplementation((input: string) => {
+      if (String(input).endsWith('/policy.onnx'))
+        return Promise.resolve(new Response(new Uint8Array([1, 2, 3]), { status: 200 }));
+      return Promise.resolve(
+        new Response(
+          JSON.stringify({ sessions: [], presets: [], configured: true, id: 'a'.repeat(32) }),
+          {
+            status: 200,
+            headers: { 'Content-Type': 'application/json' },
+          },
+        ),
+      );
+    });
+    vi.stubGlobal('fetch', fetchMock);
+    const client = new LocalTrainingClient('http://127.0.0.1:8765', 'secret-token');
+    await client.tuningCapability();
+    await client.testTuningAgent();
+    await client.tuningSessions();
+    await client.startTuning({
+      taskId: 'Unitree-Go2-Flat',
+      mode: 'automatic',
+      runName: 'test',
+      numEnvs: 16,
+      seed: 42,
+      gpuIds: [0],
+      trialCount: 4,
+      initialIterations: 1,
+      middleIterations: 2,
+      finalIterations: 3,
+      evalNumEnvs: 8,
+      evalSteps: 10,
+      objectiveWeights: {
+        velocity_tracking: 0.35,
+        action_smoothness: 0.2,
+        posture_stability: 0.15,
+        fall_avoidance: 0.15,
+        foot_slip: 0.1,
+        energy: 0.05,
+      },
+      fallbackEnabled: false,
+    });
+    await client.tuningSession('a'.repeat(32));
+    await client.tuningAction('a'.repeat(32), 'pause');
+    await client.cancelTuning('a'.repeat(32));
+    await client.presets();
+    const policy = await client.downloadBestPolicy('a'.repeat(32));
+    expect(policy.size).toBe(3);
+    expect(fetchMock).toHaveBeenCalledTimes(9);
+  });
+
   it('拒绝非 HTTP 地址和空访问令牌', () => {
     expect(() => new LocalTrainingClient('file:///tmp/socket', 'secret-token')).toThrow(
       'http 或 https',

web_platform/src/training/LocalTrainingClient.ts

@@ -1,4 +1,13 @@
-import type { TrainingJob, TrainingRequest, TrainingServerInfo } from './types';
+import type {
+  RewardPreset,
+  TuningCapability,
+  TuningCreateRequest,
+  TuningMetricsResponse,
+  TuningSession,
+  TrainingJob,
+  TrainingRequest,
+  TrainingServerInfo,
+} from './types';
 
 function normalizeEndpoint(value: string): string {
   const endpoint = value.trim().replace(/\/+$/, '');
@@ -61,12 +70,85 @@ export class LocalTrainingClient {
     return this.json(`/api/training/jobs/${encodeURIComponent(id)}`, { method: 'DELETE' });
   }
   async downloadPolicy(id: string): Promise<File> {
-    const response = await fetch(
-      `${this.endpoint}/api/training/jobs/${encodeURIComponent(id)}/artifacts/policy.onnx`,
-      this.requestInit(),
+    return this.download(
+      `/api/training/jobs/${encodeURIComponent(id)}/artifacts/policy.onnx`,
+      `policy-${id.slice(0, 8)}.onnx`,
     );
+  }
+  tuningCapability(): Promise<TuningCapability> {
+    return this.json('/api/tuning/capabilities');
+  }
+  testTuningAgent(): Promise<{ ok: boolean; model: string; outputType: string }> {
+    return this.json('/api/tuning/agent/test', { method: 'POST' });
+  }
+  tuningSessions(): Promise<TuningSession[]> {
+    return this.json<{ sessions: TuningSession[] }>('/api/tuning/sessions').then(
+      (value) => value.sessions,
+    );
+  }
+  startTuning(request: TuningCreateRequest): Promise<TuningSession> {
+    return this.json('/api/tuning/sessions', {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/json' },
+      body: JSON.stringify(request),
+    });
+  }
+  tuningSession(id: string): Promise<TuningSession> {
+    return this.json(`/api/tuning/sessions/${encodeURIComponent(id)}`);
+  }
+  tuningAction(id: string, action: 'pause' | 'resume'): Promise<TuningSession> {
+    return this.json(`/api/tuning/sessions/${encodeURIComponent(id)}/${action}`, {
+      method: 'POST',
+    });
+  }
+  cancelTuning(id: string): Promise<TuningSession> {
+    return this.json(`/api/tuning/sessions/${encodeURIComponent(id)}`, { method: 'DELETE' });
+  }
+  decideProposal(
+    sessionId: string,
+    proposalId: string,
+    action: 'approve' | 'reject',
+    payload: {
+      feedback?: string;
+      patch?: { weights: Record<string, number>; params: Record<string, number> };
+    },
+  ): Promise<TuningSession> {
+    return this.json(
+      `/api/tuning/sessions/${encodeURIComponent(sessionId)}/proposals/${encodeURIComponent(proposalId)}/${action}`,
+      {
+        method: 'POST',
+        headers: { 'Content-Type': 'application/json' },
+        body: JSON.stringify(payload),
+      },
+    );
+  }
+  tuningMetrics(
+    sessionId: string,
+    trialId: string,
+    tags: string[] = [],
+    maxPoints = 1000,
+  ): Promise<TuningMetricsResponse> {
+    const query = new URLSearchParams({ maxPoints: String(maxPoints) });
+    if (tags.length) query.set('tags', tags.join(','));
+    return this.json(
+      `/api/tuning/sessions/${encodeURIComponent(sessionId)}/trials/${encodeURIComponent(trialId)}/metrics?${query}`,
+    );
+  }
+  presets(): Promise<RewardPreset[]> {
+    return this.json<{ presets: RewardPreset[] }>('/api/tuning/presets').then(
+      (value) => value.presets,
+    );
+  }
+  downloadBestPolicy(sessionId: string): Promise<File> {
+    return this.download(
+      `/api/tuning/sessions/${encodeURIComponent(sessionId)}/artifacts/best/policy.onnx`,
+      `best-policy-${sessionId.slice(0, 8)}.onnx`,
+    );
+  }
+  private async download(path: string, name: string): Promise<File> {
+    const response = await fetch(`${this.endpoint}${path}`, this.requestInit());
     if (!response.ok) throw await responseError(response);
     const blob = await response.blob();
-    return new File([blob], `policy-${id.slice(0, 8)}.onnx`, { type: 'application/octet-stream' });
+    return new File([blob], name, { type: 'application/octet-stream' });
   }
 }

web_platform/src/training/LocalTrainingPanel.test.tsx

@@ -37,6 +37,12 @@ describe('LocalTrainingPanel', () => {
           headers: { 'Content-Type': 'application/json' },
         }),
       )
+      .mockResolvedValueOnce(
+        new Response(JSON.stringify({ presets: [] }), {
+          status: 200,
+          headers: { 'Content-Type': 'application/json' },
+        }),
+      )
       .mockResolvedValueOnce(
         new Response(JSON.stringify(job), {
           status: 202,
@@ -49,6 +55,12 @@ describe('LocalTrainingPanel', () => {
           headers: { 'Content-Type': 'application/json' },
         }),
       )
+      .mockResolvedValueOnce(
+        new Response(JSON.stringify({ presets: [] }), {
+          status: 200,
+          headers: { 'Content-Type': 'application/json' },
+        }),
+      )
       .mockResolvedValueOnce(
         new Response(JSON.stringify({ error: '训练任务不存在或服务已重启' }), {
           status: 404,
@@ -62,10 +74,15 @@ describe('LocalTrainingPanel', () => {
     });
     fireEvent.click(screen.getByRole('button', { name: '连接' }));
     expect(await screen.findByText('/opt/unitree_rl_mjlab')).toBeInTheDocument();
+    const open = vi.spyOn(window, 'open').mockImplementation(() => null);
+    fireEvent.click(screen.getByRole('button', { name: '打开自调参 Agent 工作台' }));
+    expect(open).toHaveBeenCalledWith(expect.any(URL), '_blank');
+    expect(String(open.mock.calls[0][0])).toContain('tuning.html');
+    expect(String(open.mock.calls[0][0])).not.toContain('secret-token');
     fireEvent.change(screen.getByLabelText('并行环境'), { target: { value: '32' } });
     fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
-    await waitFor(() => expect(fetchMock).toHaveBeenCalledTimes(2));
-    const request = fetchMock.mock.calls[1][1] as RequestInit;
+    await waitFor(() => expect(fetchMock).toHaveBeenCalledTimes(3));
+    const request = fetchMock.mock.calls[2][1] as RequestInit;
     expect(JSON.parse(String(request.body))).toMatchObject({
       taskId: 'Unitree-Go2-Flat',
       numEnvs: 32,
@@ -80,7 +97,7 @@ describe('LocalTrainingPanel', () => {
     expect(tokenInput).toBeEnabled();
     fireEvent.change(tokenInput, { target: { value: 'new-secret-token' } });
     fireEvent.click(screen.getByRole('button', { name: '连接' }));
-    await waitFor(() => expect(fetchMock).toHaveBeenCalledTimes(4));
+    await waitFor(() => expect(fetchMock).toHaveBeenCalledTimes(6));
     expect(await screen.findByRole('button', { name: '发起本地训练' })).toBeInTheDocument();
     expect(sessionStorage.getItem('mujoco-local-training-token')).toBe('new-secret-token');
   });

web_platform/src/training/LocalTrainingPanel.tsx

@@ -1,28 +1,25 @@
 import { useEffect, useState, type ReactNode } from 'react';
-import { Download, Link, Play, Server, Square } from 'lucide-react';
+import { Download, ExternalLink, Link, Play, Server, Square } from 'lucide-react';
 import { Badge, Button, ProgressBar, PropertyRow, Select } from '../components/ui';
 import { LocalTrainingClient } from './LocalTrainingClient';
-import type { TrainingDevice, TrainingJob, TrainingServerInfo, WandbMode } from './types';
+import type {
+  RewardPreset,
+  TrainingDevice,
+  TrainingJob,
+  TrainingServerInfo,
+  WandbMode,
+} from './types';
+import {
+  DEFAULT_TRAINING_ENDPOINT,
+  localStored,
+  rememberTrainingConnection,
+  sessionStored,
+  TRAINING_ENDPOINT_KEY,
+  TRAINING_JOB_KEY,
+  TRAINING_TOKEN_KEY,
+} from './storage';
 
-const ENDPOINT_KEY = 'mujoco-local-training-endpoint',
-  JOB_KEY = 'mujoco-local-training-job',
-  TOKEN_KEY = 'mujoco-local-training-token';
-const DEFAULT_ENDPOINT = 'http://127.0.0.1:8765';
 const ACTIVE_STATES = new Set(['queued', 'running']);
-function stored(key: string, fallback = ''): string {
-  try {
-    return localStorage.getItem(key) ?? fallback;
-  } catch {
-    return fallback;
-  }
-}
-function sessionStored(key: string): string {
-  try {
-    return sessionStorage.getItem(key) ?? '';
-  } catch {
-    return '';
-  }
-}
 function errorText(error: unknown): string {
   return error instanceof Error ? error.message : String(error);
 }
@@ -37,10 +34,14 @@ function stateLabel(state: TrainingJob['state']): string {
 }
 
 export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File): void }) {
-  const [endpoint, setEndpoint] = useState(() => stored(ENDPOINT_KEY, DEFAULT_ENDPOINT));
-  const [token, setToken] = useState(() => sessionStored(TOKEN_KEY));
+  const [endpoint, setEndpoint] = useState(() =>
+    localStored(TRAINING_ENDPOINT_KEY, DEFAULT_TRAINING_ENDPOINT),
+  );
+  const [token, setToken] = useState(() => sessionStored(TRAINING_TOKEN_KEY));
   const [server, setServer] = useState<TrainingServerInfo>();
   const [job, setJob] = useState<TrainingJob>();
+  const [presets, setPresets] = useState<RewardPreset[]>([]);
+  const [rewardPresetId, setRewardPresetId] = useState('');
   const [busy, setBusy] = useState(false),
     [error, setError] = useState<string>();
   const [taskId, setTaskId] = useState('Unitree-Go2-Flat'),
@@ -60,26 +61,30 @@ export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File
         info = await client.health();
       setServer(info);
       try {
-        localStorage.setItem(ENDPOINT_KEY, client.endpoint);
-        sessionStorage.setItem(TOKEN_KEY, client.token);
+        setPresets(await client.presets());
+      } catch {
+        setPresets([]);
+      }
+      try {
+        rememberTrainingConnection(client.endpoint, client.token);
       } catch {
         /* 当前会话仍可连接 */
       }
       if (info.tasks.length && !info.tasks.includes(taskId)) setTaskId(info.tasks[0]);
-      const remembered = info.activeJobId ?? stored(JOB_KEY);
+      const remembered = info.activeJobId ?? localStored(TRAINING_JOB_KEY);
       if (remembered) {
         try {
           const recovered = await client.job(remembered);
           setJob(recovered);
           try {
-            localStorage.setItem(JOB_KEY, recovered.id);
+            localStorage.setItem(TRAINING_JOB_KEY, recovered.id);
           } catch {
             /* ignore */
           }
         } catch {
           setJob(undefined);
           try {
-            localStorage.removeItem(JOB_KEY);
+            localStorage.removeItem(TRAINING_JOB_KEY);
           } catch {
             /* ignore */
           }
@@ -116,6 +121,37 @@ export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File
     };
   }, [endpoint, jobId, jobState, token]);
 
+  useEffect(() => {
+    const receive = (event: MessageEvent) => {
+      if (
+        event.origin !== window.location.origin ||
+        !event.source ||
+        typeof event.data !== 'object'
+      )
+        return;
+      const data = event.data as { type?: string; sessionId?: string };
+      if (data.type === 'mujoco-tuning-ready') {
+        (event.source as Window).postMessage(
+          { type: 'mujoco-tuning-credentials', endpoint, token },
+          event.origin,
+        );
+      }
+      if (data.type === 'mujoco-tuning-import-policy' && data.sessionId) {
+        void new LocalTrainingClient(endpoint, token)
+          .downloadBestPolicy(data.sessionId)
+          .then(onPolicyReady)
+          .catch((value: unknown) => setError(errorText(value)));
+      }
+    };
+    window.addEventListener('message', receive);
+    return () => window.removeEventListener('message', receive);
+  }, [endpoint, onPolicyReady, token]);
+
+  const openTuningDashboard = () => {
+    rememberTrainingConnection(endpoint, token);
+    window.open(new URL('tuning.html', document.baseURI), '_blank');
+  };
+
   const start = async () => {
     setBusy(true);
     setError(undefined);
@@ -138,10 +174,11 @@ export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File
         device,
         gpuIds: ids,
         wandbMode,
+        rewardPresetId: rewardPresetId || undefined,
       });
       setJob(next);
       try {
-        localStorage.setItem(JOB_KEY, next.id);
+        localStorage.setItem(TRAINING_JOB_KEY, next.id);
       } catch {
         /* ignore */
       }
@@ -217,6 +254,15 @@ export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File
           {server?.ready ? '可用' : '离线'}
         </Badge>
       </div>
+      {server?.ready && (
+        <Button
+          className="mt-2 w-full"
+          icon={<ExternalLink className="h-3.5 w-3.5" />}
+          onClick={openTuningDashboard}
+        >
+          打开自调参 Agent 工作台
+        </Button>
+      )}
       {server?.ready && !job && (
         <div className="mt-3 space-y-2">
           <Field label="训练任务">
@@ -286,6 +332,21 @@ export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File
               />
             </Field>
           </div>
+          <Field label="奖励配置">
+            <Select
+              aria-label="奖励配置 preset"
+              className="w-full"
+              value={rewardPresetId}
+              onChange={(event) => setRewardPresetId(event.target.value)}
+            >
+              <option value="">仓库默认奖励</option>
+              {presets.map((preset) => (
+                <option key={preset.id} value={preset.id}>
+                  {preset.name}
+                </option>
+              ))}
+            </Select>
+          </Field>
           <Field label="实验记录">
             <Select
               aria-label="W&B 模式"
@@ -368,7 +429,7 @@ export function LocalTrainingPanel({ onPolicyReady }: { onPolicyReady(file: File
                   onClick={() => {
                     setJob(undefined);
                     try {
-                      localStorage.removeItem(JOB_KEY);
+                      localStorage.removeItem(TRAINING_JOB_KEY);
                     } catch {
                       /* ignore */
                     }

web_platform/src/training/storage.ts

@@ -0,0 +1,30 @@
+export const TRAINING_ENDPOINT_KEY = 'mujoco-local-training-endpoint';
+export const TRAINING_JOB_KEY = 'mujoco-local-training-job';
+export const TRAINING_TOKEN_KEY = 'mujoco-local-training-token';
+export const TUNING_SESSION_KEY = 'mujoco-tuning-session';
+export const DEFAULT_TRAINING_ENDPOINT = 'http://127.0.0.1:8765';
+
+export function localStored(key: string, fallback = ''): string {
+  try {
+    return localStorage.getItem(key) ?? fallback;
+  } catch {
+    return fallback;
+  }
+}
+
+export function sessionStored(key: string): string {
+  try {
+    return sessionStorage.getItem(key) ?? '';
+  } catch {
+    return '';
+  }
+}
+
+export function rememberTrainingConnection(endpoint: string, token: string): void {
+  try {
+    localStorage.setItem(TRAINING_ENDPOINT_KEY, endpoint);
+    sessionStorage.setItem(TRAINING_TOKEN_KEY, token);
+  } catch {
+    /* 当前内存会话仍可继续 */
+  }
+}

web_platform/src/training/types.ts

@@ -9,6 +9,8 @@ export interface TrainingServerInfo {
   python: string;
   tasks: string[];
   activeJobId?: string;
+  resourceOwner?: string;
+  tuning?: TuningCapability;
   error?: string;
 }
 
@@ -21,6 +23,7 @@ export interface TrainingRequest {
   device: TrainingDevice;
   gpuIds: number[];
   wandbMode: WandbMode;
+  rewardPresetId?: string;
 }
 
 export interface TrainingJob {
@@ -38,3 +41,142 @@ export interface TrainingJob {
   artifactReady: boolean;
   artifactName?: string;
 }
+
+export type TuningMode = 'automatic' | 'approval';
+export type TuningSessionState =
+  | 'queued'
+  | 'running'
+  | 'evaluating'
+  | 'awaiting_approval'
+  | 'paused'
+  | 'interrupted'
+  | 'succeeded'
+  | 'failed'
+  | 'cancelled';
+
+export interface RewardConfiguration {
+  weights: Record<string, number>;
+  params: Record<string, number>;
+}
+
+export interface ObjectiveWeights {
+  velocity_tracking: number;
+  action_smoothness: number;
+  posture_stability: number;
+  fall_avoidance: number;
+  foot_slip: number;
+  energy: number;
+}
+
+export interface TuningCapability {
+  ready: boolean;
+  configured: boolean;
+  apiKeyConfigured: boolean;
+  frameworkInstalled: boolean;
+  model: string;
+  baseUrl: string;
+}
+
+export interface TuningCreateRequest {
+  taskId: 'Unitree-Go2-Flat';
+  mode: TuningMode;
+  runName: string;
+  numEnvs: number;
+  seed: number;
+  gpuIds: number[];
+  trialCount: number;
+  initialIterations: number;
+  middleIterations: number;
+  finalIterations: number;
+  evalNumEnvs: number;
+  evalSteps: number;
+  objectiveWeights: ObjectiveWeights;
+  fallbackEnabled: boolean;
+}
+
+export interface TuningTrial {
+  id: string;
+  sessionId: string;
+  number: number;
+  state: string;
+  rung: number;
+  targetIterations: number;
+  rewardConfig: RewardConfiguration;
+  proposalId?: string;
+  score?: number;
+  eligible?: boolean;
+  evaluation?: {
+    metrics: Record<string, number>;
+    metricStd?: Record<string, number>;
+    score?: { score: number; eligible: boolean; components: Record<string, number> };
+  };
+  createdAt: string;
+  startedAt?: string;
+  endedAt?: string;
+  message: string;
+}
+
+export interface TuningProposal {
+  id: string;
+  sessionId: string;
+  baseTrialId?: string;
+  state: 'pending' | 'approved' | 'rejected';
+  source: 'agent' | 'fallback';
+  patch: { weights: Record<string, number>; params: Record<string, number> };
+  rationale: string;
+  expectedImpact: Record<string, string>;
+  confidence: number;
+  createdAt: string;
+  decidedAt?: string;
+  feedback?: string;
+}
+
+export interface TuningAuditEvent {
+  id: number;
+  type: string;
+  payload: Record<string, unknown>;
+  createdAt: string;
+}
+
+export interface TuningSession {
+  id: string;
+  state: TuningSessionState;
+  mode: TuningMode;
+  createdAt: string;
+  updatedAt: string;
+  config: TuningCreateRequest & { rungs: number[]; promote: number[] };
+  objectiveWeights: ObjectiveWeights;
+  message: string;
+  currentTrialId?: string;
+  bestTrialId?: string;
+  consecutiveNoImprove: number;
+  fallbackEnabled: boolean;
+  trials: TuningTrial[];
+  proposals: TuningProposal[];
+  audit: TuningAuditEvent[];
+}
+
+export interface ScalarPoint {
+  step: number;
+  wallTime: number;
+  value: number;
+}
+
+export interface ScalarSeries {
+  tag: string;
+  points: ScalarPoint[];
+}
+
+export interface TuningMetricsResponse {
+  trialId: string;
+  series: ScalarSeries[];
+}
+
+export interface RewardPreset {
+  id: string;
+  name: string;
+  sessionId: string;
+  trialId: string;
+  rewardConfig: RewardConfiguration;
+  createdAt: string;
+}