feat: release v1.0.1 CADWorld 网站与 LeKiwi 智能抓放

集成同源 BYOK 会话隔离、精简模型设置、官方订阅入口和 HTTPS 发布运维；保留本地训练/调参与控制能力。同步 npm 版本及 CHANGELOG，记录公网真实 API 验收仍待用户凭据。

web_platform/src/training/LocalTrainingClient.test.ts

@@ -4,6 +4,21 @@ import { LocalTrainingClient } from './LocalTrainingClient';
 afterEach(() => vi.unstubAllGlobals());
 
 describe('LocalTrainingClient', () => {
+  it('移动场景二进制上传与部署元数据均携带认证，作业请求只传服务器快照ID', async () => {
+    const fetchMock = vi.fn().mockImplementation(() => Promise.resolve(new Response('{}')));
+    vi.stubGlobal('fetch', fetchMock);
+    const client = new LocalTrainingClient('http://localhost:8765', 'secret');
+    const file = new File(['scene'], 'scene.zip');
+    await client.uploadMobileScene(file);
+    await client.downloadMobileDeployment('a'.repeat(32));
+    expect(fetchMock.mock.calls[0][0]).toContain('/api/training/mobile-packages');
+    const options = fetchMock.mock.calls[0][1] as RequestInit;
+    expect(options.body).toBe(file);
+    expect(new Headers(options.headers).get('Content-Type')).toBe('application/zip');
+    expect(new Headers(options.headers).get('Authorization')).toBe('Bearer secret');
+    expect(fetchMock.mock.calls[1][0]).toContain('/artifacts/deployment.json');
+    expect(() => client.uploadMobileScene(new File([], 'empty.zip'))).toThrow('128 MiB');
+  });
   it('规范化服务地址并提交受类型约束的 JSON 请求', async () => {
     const fetchMock = vi.fn().mockResolvedValue(
       new Response(JSON.stringify({ id: 'a'.repeat(32), state: 'queued' }), {

web_platform/src/training/LocalTrainingClient.ts

@@ -1,3 +1,4 @@
+import type { MobileDeployment } from '../mobile/training';
 import type {
   ParameterConstraint,
   PretrainedSource,
@@ -79,6 +80,20 @@ export class LocalTrainingClient {
     });
   }
   start(request: TrainingRequest): Promise<TrainingJob> {
+    return this.startJob(request);
+  }
+  uploadMobileScene(file: File): Promise<{ id: string; robotId: string; sceneSha256: string }> {
+    if (!file.size || file.size > 128 * 1024 ** 2) throw new Error('场景快照上限 128 MiB');
+    return this.json('/api/training/mobile-packages', {
+      method: 'POST',
+      headers: { 'Content-Type': 'application/zip' },
+      body: file,
+    });
+  }
+  downloadMobileDeployment(id: string): Promise<MobileDeployment> {
+    return this.json(`/api/training/jobs/${encodeURIComponent(id)}/artifacts/deployment.json`);
+  }
+  startJob(request: TrainingRequest): Promise<TrainingJob> {
     return this.json('/api/training/jobs', {
       method: 'POST',
       headers: { 'Content-Type': 'application/json' },

web_platform/src/training/LocalTrainingPanel.mobile.test.tsx

@@ -0,0 +1,182 @@
+import { fireEvent, render, screen, waitFor, act } from '@testing-library/react';
+import { beforeEach, expect, it, vi } from 'vitest';
+import { LocalTrainingPanel } from './LocalTrainingPanel';
+import { LocalTrainingClient } from './LocalTrainingClient';
+import { MOBILE_TRAINING_TASKS, type MobileDeployment } from '../mobile/training';
+import type { TrainingJob, TrainingServerInfo } from './types';
+
+const taskId = 'MobileManipulator-LeKiwi-Bundle';
+const deployment = {
+  trainingTaskId: taskId,
+  robotId: 'lekiwi-bundle',
+  browserCompatible: true,
+  trainingStage: 'navigate',
+  evaluation: {
+    episodes: 10,
+    successRate: 0.6,
+    safetyStops: 0,
+    maxJointVelocity: 1.1,
+    meanNavigationDistance: 0.1,
+    seed: 100042,
+  },
+} as MobileDeployment;
+const complete: TrainingJob = {
+  id: 'a'.repeat(32),
+  taskId,
+  state: 'succeeded',
+  createdAt: '',
+  iteration: 2,
+  maxIterations: 2,
+  progress: 1,
+  message: '完成',
+  artifactReady: true,
+  deployment,
+  logs: [
+    'Learning iteration 2 / 2',
+    'Mean value loss: 0.2',
+    'Mean surrogate loss: -0.1',
+    'Mean entropy loss: -2',
+    'Mean reward: 1.25',
+  ],
+};
+const health: TrainingServerInfo = {
+  version: '1',
+  ready: true,
+  trainerRoot: '/training',
+  python: '/python',
+  tasks: ['Unitree-Go2-Flat', ...Object.keys(MOBILE_TRAINING_TASKS)],
+  taskMetadata: Object.entries(MOBILE_TRAINING_TASKS).map(([id, robotId]) => ({
+    id,
+    robotId,
+    name: id,
+    family: 'mobile-manipulator',
+    browserCompatible: true,
+    terrainPresets: [],
+    terrainParameters: {},
+    sensorTypes: [],
+    sensorParameters: {},
+    mapSyncScope: '',
+  })),
+};
+beforeEach(() => {
+  vi.restoreAllMocks();
+  localStorage.clear();
+  sessionStorage.clear();
+  vi.spyOn(LocalTrainingClient.prototype, 'health').mockResolvedValue(health);
+  vi.spyOn(LocalTrainingClient.prototype, 'presets').mockResolvedValue([]);
+});
+async function connect() {
+  fireEvent.change(screen.getByLabelText('训练服务访问令牌'), { target: { value: 'test' } });
+  fireEvent.click(screen.getByRole('button', { name: '连接' }));
+  await screen.findByRole('button', { name: '发起本地训练' });
+}
+it('自动选择变体、隐藏Go2配置；上传快照→创建作业→下载元数据与ONNX→主会话导入', async () => {
+  const snapshot = new File(['scene'], 'scene.zip');
+  const policy = new File(['onnx'], 'policy.onnx');
+  const bridge = {
+    robotId: 'lekiwi-bundle',
+    prepare: vi.fn().mockResolvedValue(snapshot),
+    importPolicy: vi.fn().mockResolvedValue(undefined),
+  };
+  const upload = vi
+    .spyOn(LocalTrainingClient.prototype, 'uploadMobileScene')
+    .mockResolvedValue({ id: 'b'.repeat(64), robotId: 'lekiwi-bundle', sceneSha256: 's' });
+  const start = vi.spyOn(LocalTrainingClient.prototype, 'startJob').mockResolvedValue(complete);
+  vi.spyOn(LocalTrainingClient.prototype, 'downloadPolicy').mockResolvedValue(policy);
+  vi.spyOn(LocalTrainingClient.prototype, 'downloadMobileDeployment').mockResolvedValue(deployment);
+  const go2 = vi.fn();
+  render(<LocalTrainingPanel mobileTraining={bridge} onPolicyReady={go2} />);
+  await connect();
+  expect(screen.getByLabelText('训练任务')).toHaveValue(taskId);
+  expect(screen.queryByLabelText('训练地形')).not.toBeInTheDocument();
+  expect(screen.queryByLabelText('基础策略')).not.toBeInTheDocument();
+  expect(screen.queryByLabelText('W&B 模式')).not.toBeInTheDocument();
+  expect(screen.getByLabelText('并行环境')).toHaveAttribute('max', '64');
+  expect(screen.getByLabelText('计算设备')).toHaveValue('cpu');
+  fireEvent.change(screen.getByLabelText('每环境采样步数'), { target: { value: '8' } });
+  fireEvent.change(screen.getByLabelText('训练迭代'), { target: { value: '2' } });
+  fireEvent.change(screen.getByLabelText('目标 X'), { target: { value: '0.7' } });
+  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
+  await waitFor(() => expect(start).toHaveBeenCalledOnce());
+  expect(bridge.prepare).toHaveBeenCalledWith(taskId);
+  expect(upload).toHaveBeenCalledWith(snapshot);
+  expect(start.mock.calls[0][0]).toMatchObject({
+    taskId,
+    numEnvs: 1,
+    maxIterations: 2,
+    device: 'cpu',
+    seed: 42,
+    mobilePackageId: 'b'.repeat(64),
+    mobileParams: {
+      rolloutSteps: 8,
+      goalPosition: [0.7, 0.15, 0.019],
+      stage: 'navigate',
+      evaluationEpisodes: 10,
+      positionJitter: 0.1,
+      navigationBootstrapSteps: 4096,
+    },
+  });
+  expect(start.mock.calls[0][0]).not.toHaveProperty('terrainPreset');
+  expect(await screen.findByText('价值损失')).toBeInTheDocument();
+  fireEvent.click(screen.getByRole('button', { name: '导入策略' }));
+  await waitFor(() => expect(bridge.importPolicy).toHaveBeenCalledWith(policy, deployment));
+  expect(go2).not.toHaveBeenCalled();
+  expect(screen.getByText('60.0% / 10 回合')).toBeVisible();
+  expect(screen.getByText('1.100 rad/s')).toBeVisible();
+  fireEvent.click(screen.getByRole('button', { name: '接续此作业（保留权重）' }));
+  expect(screen.getByLabelText('接续作业 ID')).toHaveValue(complete.id);
+  fireEvent.change(screen.getByLabelText('移动操作训练阶段'), { target: { value: 'reach' } });
+  start.mockRejectedValueOnce(new Error('上一阶段尚未达标'));
+  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
+  expect(await screen.findByRole('alert')).toHaveTextContent('上一阶段尚未达标');
+  expect(start.mock.calls[1][0].mobileParams).toMatchObject({
+    stage: 'reach',
+    sourceJobId: complete.id,
+  });
+});
+it('场景准备失败不创建作业；任务切换恢复Go2参数', async () => {
+  const start = vi.spyOn(LocalTrainingClient.prototype, 'startJob');
+  render(
+    <LocalTrainingPanel
+      onPolicyReady={vi.fn()}
+      mobileTraining={{
+        robotId: 'lekiwi-v1',
+        prepare: vi.fn().mockRejectedValue(new Error('机器人绑定失败')),
+        importPolicy: vi.fn(),
+      }}
+    />,
+  );
+  await connect();
+  fireEvent.click(screen.getByRole('button', { name: '发起本地训练' }));
+  expect(await screen.findByRole('alert')).toHaveTextContent('机器人绑定失败');
+  expect(start).not.toHaveBeenCalled();
+  fireEvent.change(screen.getByLabelText('训练任务'), { target: { value: 'Unitree-Go2-Flat' } });
+  expect(screen.queryByLabelText('每环境采样步数')).not.toBeInTheDocument();
+  expect(screen.getByLabelText('并行环境')).toHaveValue(4096);
+  expect(screen.getByLabelText('计算设备')).toHaveValue('gpu');
+});
+it('轮询移动作业日志和完成状态；拒绝其他任务元数据', async () => {
+  const bridge = { robotId: 'lekiwi-bundle', prepare: vi.fn(), importPolicy: vi.fn() };
+  vi.spyOn(LocalTrainingClient.prototype, 'health').mockResolvedValue({
+    ...health,
+    activeJobId: complete.id,
+  });
+  vi.spyOn(LocalTrainingClient.prototype, 'job')
+    .mockResolvedValueOnce({ ...complete, state: 'running', artifactReady: false })
+    .mockResolvedValue(complete);
+  vi.spyOn(LocalTrainingClient.prototype, 'downloadMobileDeployment').mockResolvedValue({
+    ...deployment,
+    trainingTaskId: 'MobileManipulator-LeKiwi-v1',
+  });
+  render(<LocalTrainingPanel mobileTraining={bridge} onPolicyReady={vi.fn()} />);
+  fireEvent.change(screen.getByLabelText('训练服务访问令牌'), { target: { value: 'test' } });
+  fireEvent.click(screen.getByRole('button', { name: '连接' }));
+  await screen.findByRole('button', { name: '停止训练' });
+  // Trigger the existing 1500ms status polling path without changing production timers.
+  await act(async () => {
+    await new Promise((resolve) => setTimeout(resolve, 1600));
+  });
+  fireEvent.click(await screen.findByRole('button', { name: '导入策略' }));
+  expect(await screen.findByRole('alert')).toHaveTextContent('成果物与机器人变体不匹配');
+  expect(bridge.importPolicy).not.toHaveBeenCalled();
+});

web_platform/src/training/LocalTrainingPanel.tsx

@@ -1,3 +1,11 @@
+import {
+  isMobileTrainingTask,
+  MOBILE_TRAINING_TASKS,
+  type MobileTrainingBridge,
+  type MobileDeployment,
+} from '../mobile/training';
+import { MOBILE_TASK } from '../mobile/RobotDescriptor';
+import type { TrainingStage } from '../mobile/TaskKernel';
 import { PretrainedIdentity, PretrainedSourceSelect } from './PretrainedSourceSelect';
 import { pretrainedSelectionError } from './pretrainedSelection';
 import { TrainingMetricsPanel } from './TrainingMetricsPanel';
@@ -60,7 +68,9 @@ export function LocalTrainingPanel({
   sceneMaps = [],
   sceneDirty = false,
   onStatusChange,
+  mobileTraining,
 }: {
+  mobileTraining?: MobileTrainingBridge;
   onPolicyReady(file: File, deployment?: PolicyDeployment): void | Promise<void>;
   compileScene?: TrainingSceneCompiler;
   sceneMaps?: readonly PlacedMapAsset[];
@@ -100,14 +110,31 @@ export function LocalTrainingPanel({
     'single_ring_raycast',
   );
   const [sensorCfg, setSensorCfg] = useState<Record<string, number>>({});
+  const mobile = isMobileTrainingTask(taskId);
+  const [rolloutSteps, setRolloutSteps] = useState(128);
+  const [mobileStage, setMobileStage] = useState<TrainingStage>('navigate');
+  const [sourceJobId, setSourceJobId] = useState('');
+  const [positionJitter, setPositionJitter] = useState(0.1);
+  const [evaluationEpisodes, setEvaluationEpisodes] = useState(10);
+  const [navigationBootstrapSteps, setNavigationBootstrapSteps] = useState(4096);
+  const mobileDeployment =
+    job && isMobileTrainingTask(job.taskId)
+      ? (job.deployment as MobileDeployment | undefined)
+      : undefined;
+  const [objectPosition, setObjectPosition] = useState<number[]>([...MOBILE_TASK.objectStart]);
+  const [goalPosition, setGoalPosition] = useState<number[]>([...MOBILE_TASK.goalStart]);
   const metadata = server?.taskMetadata?.find((item) => item.id === taskId);
-  const sourceSelectionError = pretrainedSelectionError(
-    server?.pretrainedSources,
-    taskId,
-    pretrainedSourceId,
-  );
+  const sourceSelectionError = mobile
+    ? undefined
+    : pretrainedSelectionError(server?.pretrainedSources, taskId, pretrainedSourceId);
   const selectTask = (id: string) => {
     setTaskId(id);
+    setMobileStage('navigate');
+    setSourceJobId('');
+    if (isMobileTrainingTask(id)) setPretrainedSourceId('');
+    setNumEnvs(isMobileTrainingTask(id) ? 1 : 4096);
+    setMaxIterations(isMobileTrainingTask(id) ? 1000 : 2000);
+    setDevice(isMobileTrainingTask(id) ? 'cpu' : 'gpu');
     setCustomTerrainBoxes(undefined);
     setRewardPresetId('');
     setTerrainParams({});
@@ -115,6 +142,16 @@ export function LocalTrainingPanel({
     setSensorMode('single_ring_raycast');
     setTerrainPreset(id === OBSTACLE_TASK_ID ? 'discrete_obstacles' : '');
   };
+  const robotId = mobileTraining?.robotId;
+  const [observedRobotId, setObservedRobotId] = useState<string>();
+  // Reset editable task defaults only when the loaded robot changes, not on every snapshot.
+  if (robotId !== observedRobotId) {
+    setObservedRobotId(robotId);
+    const id =
+      Object.keys(MOBILE_TRAINING_TASKS).find((key) => MOBILE_TRAINING_TASKS[key] === robotId) ??
+      'Unitree-Go2-Flat';
+    if (id !== taskId) selectTask(id);
+  }
   const syncMap = () => {
     try {
       if (sceneDirty) throw new Error('请先应用地图草稿，再同步训练地图');
@@ -136,6 +173,7 @@ export function LocalTrainingPanel({
     setConnectionRevision(connectionEpoch.current);
     setServer(undefined);
     setJob(undefined);
+    setSourceJobId('');
     setPresets([]);
     setRewardPresetId('');
     setError(undefined);
@@ -401,7 +439,17 @@ export function LocalTrainingPanel({
         setCustomTerrainBoxes(resolvedCustomTerrain);
         setTerrainParams(resolvedTerrainParams);
       }
-      const next = await new LocalTrainingClient(endpoint, token).start({
+      const client = new LocalTrainingClient(endpoint, token);
+      let mobilePackageId: string | undefined;
+      if (mobile) {
+        if (!mobileTraining) throw new Error('请在主工作台加载对应 LeKiwi 模型');
+        const snapshot = await mobileTraining.prepare(taskId);
+        const uploaded = await client.uploadMobileScene(snapshot);
+        if (uploaded.robotId !== MOBILE_TRAINING_TASKS[taskId])
+          throw new Error('场景变体与任务不匹配');
+        mobilePackageId = uploaded.id;
+      }
+      const next = await client.start({
         taskId,
         numEnvs,
         maxIterations,
@@ -409,7 +457,22 @@ export function LocalTrainingPanel({
         runName,
         device,
         gpuIds: ids,
-        wandbMode,
+        wandbMode: mobile ? 'disabled' : wandbMode,
+        ...(mobile
+          ? {
+              mobilePackageId,
+              mobileParams: {
+                rolloutSteps,
+                objectPosition,
+                goalPosition,
+                stage: mobileStage,
+                positionJitter,
+                evaluationEpisodes,
+                navigationBootstrapSteps,
+                ...(sourceJobId ? { sourceJobId } : {}),
+              },
+            }
+          : {}),
         rewardPresetId: taskId === 'Unitree-Go2-Flat' ? rewardPresetId || undefined : undefined,
         ...(pretrainedSourceId ? { pretrainedSourceId } : {}),
         ...(terrainPreset ? { terrainPreset, terrainParams: resolvedTerrainParams } : {}),
@@ -447,6 +510,18 @@ export function LocalTrainingPanel({
     setBusy(true);
     setError(undefined);
     try {
+      if (isMobileTrainingTask(job.taskId)) {
+        if (!mobileTraining) throw new Error('请在主工作台导入移动操作策略');
+        const client = new LocalTrainingClient(endpoint, token);
+        const deployment = await client.downloadMobileDeployment(job.id);
+        if (
+          deployment.trainingTaskId !== job.taskId ||
+          deployment.robotId !== MOBILE_TRAINING_TASKS[job.taskId]
+        )
+          throw new Error('任务成果物与机器人变体不匹配');
+        await mobileTraining.importPolicy(await client.downloadPolicy(job.id), deployment);
+        return;
+      }
       if (job.taskId !== 'Unitree-Go2-Flat' && !job.deployment)
         throw new Error('该任务缺少浏览器部署契约');
       const deployment = job.deployment ? validatePolicyDeployment(job.deployment) : undefined;
@@ -532,13 +607,15 @@ export function LocalTrainingPanel({
           </p>
         </details>
       )}
-      <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>
+      {!mobile && (
+        <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 && (
         <fieldset disabled={busy} className="mt-3 space-y-2">
           <Field label="训练任务">
@@ -555,34 +632,37 @@ export function LocalTrainingPanel({
               ))}
             </Select>
           </Field>
-          <PretrainedSourceSelect
-            sources={server.pretrainedSources}
-            taskId={taskId}
-            value={pretrainedSourceId}
-            onChange={setPretrainedSourceId}
-            disabled={busy || uploading}
-            upload={{
-              endpoint,
-              token,
-              revision: connectionRevision,
-              enabled: Boolean(server.pretrainedUpload?.enabled),
-              onBusyChange: setUploading,
-              onUploaded: (source) => {
-                setServer(
-                  (current) =>
-                    current && {
-                      ...current,
-                      pretrainedSources: [
-                        ...(current.pretrainedSources ?? []).filter((s) => s.id !== source.id),
-                        source,
-                      ],
-                    },
-                );
-                setPretrainedSourceId(source.id);
-              },
-            }}
-          />
-          {metadata && (
+          {metadata?.ready === false && <p role="alert">{metadata.error}</p>}
+          {!mobile && (
+            <PretrainedSourceSelect
+              sources={server.pretrainedSources}
+              taskId={taskId}
+              value={pretrainedSourceId}
+              onChange={setPretrainedSourceId}
+              disabled={busy || uploading}
+              upload={{
+                endpoint,
+                token,
+                revision: connectionRevision,
+                enabled: Boolean(server.pretrainedUpload?.enabled),
+                onBusyChange: setUploading,
+                onUploaded: (source) => {
+                  setServer(
+                    (current) =>
+                      current && {
+                        ...current,
+                        pretrainedSources: [
+                          ...(current.pretrainedSources ?? []).filter((s) => s.id !== source.id),
+                          source,
+                        ],
+                      },
+                  );
+                  setPretrainedSourceId(source.id);
+                },
+              }}
+            />
+          )}
+          {metadata && !mobile && (
             <>
               <Field label="训练地形">
                 <Select
@@ -693,12 +773,103 @@ export function LocalTrainingPanel({
               )}
             </>
           )}
+          {mobile && (
+            <>
+              <p className="text-xs text-text-secondary">
+                变体：{MOBILE_TRAINING_TASKS[taskId]} · 控制步长 {MOBILE_TASK.controlDt}s ·{' '}
+                {MOBILE_TASK.observationSize} → 12。原生 CPU 物理，设备选项控制 PPO
+                网络。场景自动同步，无需下载训练包。
+              </p>
+              <Field label="移动操作训练阶段">
+                <Select
+                  aria-label="移动操作训练阶段"
+                  value={mobileStage}
+                  onChange={(e) => setMobileStage(e.target.value as TrainingStage)}
+                >
+                  <option value="navigate">1 · 底盘接近（机械臂保持）</option>
+                  <option value="reach">2 · 末端接近（先导航，再伸臂）</option>
+                  <option value="pick-place">3 · 抓取放置</option>
+                </Select>
+              </Field>
+              <Field label="接续作业 ID（留空从头训练导航）">
+                <input
+                  aria-label="接续作业 ID"
+                  className="field h-7 w-full px-2 text-xs"
+                  value={sourceJobId}
+                  onChange={(e) => setSourceJobId(e.target.value.trim())}
+                />
+              </Field>
+              <p className="text-xs text-warning">
+                导航接近位为物体前方 0.3 m、朝向世界 +X，并非放置目标点。机械臂目标限速{' '}
+                {MOBILE_TASK.armSpeedLimit} rad/s，实测超速 {MOBILE_TASK.jointSpeedStop} rad/s
+                安全终止。升级阶段需前一阶段至少 10 回合评估、成功率 ≥80%、无安全终止。
+              </p>
+              <NumberField
+                label="位置随机范围 m"
+                value={positionJitter}
+                min={0}
+                max={0.3}
+                step={0.01}
+                onChange={setPositionJitter}
+              />
+              <NumberField
+                label="独立评估回合"
+                value={evaluationEpisodes}
+                min={2}
+                max={64}
+                onChange={setEvaluationEpisodes}
+              />
+              <NumberField
+                label="导航启动示教步数（仅初训）"
+                value={navigationBootstrapSteps}
+                min={0}
+                max={10000}
+                onChange={setNavigationBootstrapSteps}
+              />
+              <p className="text-xs text-text-secondary">
+                初训可先模仿闭环底盘控制器，再用 PPO 微调；0 表示纯
+                PPO。导出只包含训练后的神经网络，不包含示教控制器。
+              </p>
+              <NumberField
+                label="每环境采样步数"
+                value={rolloutSteps}
+                min={8}
+                max={4096}
+                onChange={setRolloutSteps}
+              />
+              {(
+                [
+                  ['物体', objectPosition, setObjectPosition],
+                  ['目标', goalPosition, setGoalPosition],
+                ] as const
+              ).map(([label, position, setPosition]) => (
+                <div className="grid grid-cols-3 gap-2" key={label}>
+                  {['X', 'Y', 'Z'].map((axis, i) => (
+                    <NumberField
+                      key={axis}
+                      label={`${label} ${axis}`}
+                      value={position[i]}
+                      min={i === 2 ? MOBILE_TASK.objectStart[2] : -MOBILE_TASK.positionScale}
+                      max={MOBILE_TASK.positionScale}
+                      step={0.01}
+                      onChange={(value) =>
+                        setPosition((old) => old.map((v, j) => (j === i ? value : v)))
+                      }
+                    />
+                  ))}
+                </div>
+              ))}
+              <p className="text-xs">
+                总采样步数：{numEnvs * maxIterations * rolloutSteps}；训练不保证学会抓取。
+              </p>
+            </>
+          )}
           <div className="grid grid-cols-2 gap-2">
             <NumberField
               label="并行环境"
               value={numEnvs}
               min={1}
-              max={16384}
+              max={mobile ? 64 : 16384}
               onChange={setNumEnvs}
             />
             <NumberField
@@ -746,48 +917,52 @@ export function LocalTrainingPanel({
               />
             </Field>
           </div>
-          <CollapsibleSection
-            title="实验高级配置"
-            defaultOpen={false}
-            keepMounted
-            forceOpen={Boolean(error)}
-          >
-            <Field label="奖励配置">
-              <Select
-                disabled={taskId !== 'Unitree-Go2-Flat'}
-                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
-                  .filter((preset) => preset.taskId === 'Unitree-Go2-Flat')
-                  .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"
-                className="w-full"
-                value={wandbMode}
-                onChange={(event) => setWandbMode(event.target.value as WandbMode)}
-              >
-                <option value="offline">本地离线（默认，无需登录）</option>
-                <option value="disabled">完全禁用 W&amp;B</option>
-                <option value="online">在线 W&amp;B（需要 API Key）</option>
-              </Select>
-            </Field>
-          </CollapsibleSection>
+          {!mobile && (
+            <CollapsibleSection
+              title="实验高级配置"
+              defaultOpen={false}
+              keepMounted
+              forceOpen={Boolean(error)}
+            >
+              <Field label="奖励配置">
+                <Select
+                  disabled={taskId !== 'Unitree-Go2-Flat'}
+                  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
+                    .filter((preset) => preset.taskId === 'Unitree-Go2-Flat')
+                    .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"
+                  className="w-full"
+                  value={wandbMode}
+                  onChange={(event) => setWandbMode(event.target.value as WandbMode)}
+                >
+                  <option value="offline">本地离线（默认，无需登录）</option>
+                  <option value="disabled">完全禁用 W&amp;B</option>
+                  <option value="online">在线 W&amp;B（需要 API Key）</option>
+                </Select>
+              </Field>
+            </CollapsibleSection>
+          )}
           <Button
             variant="primary"
             className="w-full"
             icon={<Play className="h-3.5 w-3.5" />}
-            disabled={busy || uploading || Boolean(sourceSelectionError)}
+            disabled={
+              busy || uploading || Boolean(sourceSelectionError) || metadata?.ready === false
+            }
             onClick={() => void start()}
           >
             发起本地训练
@@ -813,6 +988,23 @@ export function LocalTrainingPanel({
             </Badge>
           </div>
           <PretrainedIdentity source={job.pretrained} />
+          {mobileDeployment?.evaluation && (
+            <div className="mt-2 text-xs">
+              <PropertyRow label="阶段" value={mobileDeployment.trainingStage} />
+              <PropertyRow
+                label="独立评估成功率"
+                value={`${(mobileDeployment.evaluation.successRate * 100).toFixed(1)}% / ${mobileDeployment.evaluation.episodes} 回合`}
+              />
+              <PropertyRow
+                label="实测关节峰值"
+                value={`${mobileDeployment.evaluation.maxJointVelocity.toFixed(3)} rad/s`}
+              />
+              <PropertyRow label="安全终止次数" value={mobileDeployment.evaluation.safetyStops} />
+              <p className="text-warning">
+                导出成功不代表策略达标；未达标策略导入仅用于调试，请先同阶段续训。
+              </p>
+            </div>
+          )}
           {job.taskId === 'Unitree-Go2-Rough' && (
             <div>
               <p className="text-xs text-warning">
@@ -849,6 +1041,23 @@ export function LocalTrainingPanel({
               </pre>
             </details>
           )}
+          {mobileDeployment && job.state === 'succeeded' && (
+            <Button
+              disabled={busy}
+              onClick={() => {
+                setSourceJobId(job.id);
+                setMobileStage(mobileDeployment.trainingStage ?? 'navigate');
+                if (mobileDeployment.resetOptions) {
+                  setObjectPosition(mobileDeployment.resetOptions.object);
+                  setGoalPosition(mobileDeployment.resetOptions.goal);
+                }
+                setPositionJitter(mobileDeployment.trainingParams?.positionJitter ?? 0.1);
+                setJob(undefined);
+              }}
+            >
+              接续此作业（保留权重）
+            </Button>
+          )}
           <div className="mt-3 grid grid-cols-2 gap-2">
             {active ? (
               <Button
@@ -875,8 +1084,11 @@ export function LocalTrainingPanel({
                   导入策略
                 </Button>
                 <Button
+                  disabled={busy}
                   onClick={() => {
                     setJob(undefined);
+                    setSourceJobId('');
+                    setMobileStage('navigate');
                     try {
                       localStorage.removeItem(TRAINING_JOB_KEY);
                     } catch {

web_platform/src/training/types.ts

@@ -1,3 +1,4 @@
+import type { MobileDeployment, MobileTrainingParams } from '../mobile/training';
 import type { PolicyDeployment, TrainingTerrain } from '../rl/deployment';
 
 export interface TrainingParameter {
@@ -7,6 +8,11 @@ export interface TrainingParameter {
   integer?: boolean;
 }
 export interface TrainingTaskMetadata {
+  ready?: boolean;
+  error?: string;
+  family?: string;
+  robotId?: string;
+  controlDt?: number;
   id: string;
   name: string;
   browserCompatible: boolean;
@@ -77,6 +83,8 @@ export interface TrainingServerInfo {
 }
 
 export interface TrainingRequest {
+  mobilePackageId?: string;
+  mobileParams?: MobileTrainingParams;
   customTerrainBoxes?: TrainingTerrain;
   terrainPreset?: string;
   terrainParams?: Record<string, number>;
@@ -96,7 +104,7 @@ export interface TrainingRequest {
 
 export interface TrainingJob {
   pretrained?: PretrainedInitialization;
-  deployment?: PolicyDeployment;
+  deployment?: PolicyDeployment | MobileDeployment;
   id: string;
   state: TrainingJobState;
   taskId: string;