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Merged
TATP-233 merged 1 commit into from
Oct 4, 2026
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refactor(tasks): remove g1_flip_tracking task #2064

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6 changes: 1 addition & 5 deletions docs/sphinx/source/en/2-user_guide/4-tasks/2-motion_tracking.md
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Expand Up @@ -20,7 +20,6 @@ configuration entry point; the selected owner is materialized into the shared
| CLI Task | Registered Env | Default Motion | Owner Evidence |
| --- | --- | --- | --- |
| `g1_motion_tracking` | `G1MotionTracking` | `dance1_subject2_part.npz` | `src/unilab/conf/ppo/task/g1_motion_tracking/`, `src/unilab/conf/appo/task/g1_motion_tracking/` |
| `g1_flip_tracking` | `G1FlipTracking` | `flip_360_001__A304.npz` | `src/unilab/conf/ppo/task/g1_flip_tracking/`, `src/unilab/conf/appo/task/g1_flip_tracking/` |
| `x2_wall_flip_tracking` | `X2WallFlipTracking` | `tictacflip_6-3_g1format.npz` | `src/unilab/conf/ppo/task/x2_wall_flip_tracking/` |
| `g1_box_tracking` | `G1BoxTracking` | `sub3_largebox_003_boxconverted.npz` | `src/unilab/conf/ppo/task/g1_box_tracking/` |
| `g1_wbt_obs` | `G1WBTObs` | `dance1_subject2_part.npz` | `src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml` |
Expand All @@ -33,13 +32,10 @@ profiles now live in `unitree_rl_unilab`.
## PPO And APPO

PPO owner iteration budgets (the `--sim mujoco` owner YAMLs): `g1_motion_tracking`
runs `algo.max_iterations=15000`; `g1_flip_tracking` runs `20000`; and
`x2_wall_flip_tracking` runs `9500`. (The Motrix owner YAML for
`g1_flip_tracking` raises this to `30000`.)
runs `algo.max_iterations=15000` and `x2_wall_flip_tracking` runs `9500`.

```bash
uv run train --algo ppo --task g1_motion_tracking --sim mujoco
uv run train --algo ppo --task g1_flip_tracking --sim mujoco
uv run train --algo ppo --task x2_wall_flip_tracking --sim mujoco
uv run train --algo ppo --task g1_motion_tracking --sim mujoco
uv run train --algo appo --task g1_motion_tracking --sim mujoco training.no_play=true
Expand Down
3 changes: 0 additions & 3 deletions docs/sphinx/source/en/5-reference/5-support_matrix.md
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Expand Up @@ -85,7 +85,6 @@ This table is derived from UniSim's SDK-free public static inventory. It describ
| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | - | - | - |
| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | Tested | Registered | Configured |
| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - |
| PPO (torch) | `g1_flip_tracking` (G1 flip tracking) | Tested | - | - | - | - |
| PPO (torch) | `x2_wall_flip_tracking` (X2 wall flip tracking) | Tested | - | - | - | - |
| PPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - |
| PPO (torch) | `allegro_inhand_grasp` (allegro inhand grasp) | Tested | - | - | - | - |
Expand All @@ -94,11 +93,9 @@ This table is derived from UniSim's SDK-free public static inventory. It describ
| APPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | - | - | - |
| APPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | Registered | Registered | Registered |
| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - |
| APPO (torch) | `g1_flip_tracking` (G1 flip tracking) | Tested | - | - | - | - |
| APPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - |
| SAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | Tested | Tested | Tested |
| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | Configured | Registered | Configured |
| SAC (torch) | `g1_flip_tracking` (G1 flip tracking) | Tested | - | Configured | - | - |
| SAC (torch) | `g1_wbt_obs` (g1 wbt obs) | Tested | - | - | - | - |
| FlashSAC (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | - | - | - |
| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | Configured | Registered | Registered |
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6 changes: 1 addition & 5 deletions docs/sphinx/source/zh_CN/2-user_guide/4-tasks/2-motion_tracking.md
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Expand Up @@ -18,7 +18,6 @@ runtime 执行。
| CLI Task | Registered Env | 默认 motion | Owner Evidence |
| --- | --- | --- | --- |
| `g1_motion_tracking` | `G1MotionTracking` | `dance1_subject2_part.npz` | `src/unilab/conf/ppo/task/g1_motion_tracking/`, `src/unilab/conf/appo/task/g1_motion_tracking/` |
| `g1_flip_tracking` | `G1FlipTracking` | `flip_360_001__A304.npz` | `src/unilab/conf/ppo/task/g1_flip_tracking/`, `src/unilab/conf/appo/task/g1_flip_tracking/` |
| `x2_wall_flip_tracking` | `X2WallFlipTracking` | `tictacflip_6-3_g1format.npz` | `src/unilab/conf/ppo/task/x2_wall_flip_tracking/` |
| `g1_box_tracking` | `G1BoxTracking` | `sub3_largebox_003_boxconverted.npz` | `src/unilab/conf/ppo/task/g1_box_tracking/` |
| `g1_wbt_obs` | `G1WBTObs` | `dance1_subject2_part.npz` | `src/unilab/conf/sac/task/g1_wbt_obs/mujoco.yaml` |
Expand All @@ -30,13 +29,10 @@ deploy 与 23-DoF motion production profile 现在位于 `unitree_rl_unilab`。
## PPO 与 APPO

PPO owner 迭代预算（`--sim mujoco` owner YAML）：`g1_motion_tracking` 为
`algo.max_iterations=15000`；`g1_flip_tracking` 为 `20000`；
`x2_wall_flip_tracking` 为 `9500`。（`g1_flip_tracking` 的 Motrix owner
YAML 将其提到 `30000`。）
`algo.max_iterations=15000`，`x2_wall_flip_tracking` 为 `9500`。

```bash
uv run train --algo ppo --task g1_motion_tracking --sim mujoco
uv run train --algo ppo --task g1_flip_tracking --sim mujoco
uv run train --algo ppo --task x2_wall_flip_tracking --sim mujoco
uv run train --algo ppo --task g1_motion_tracking --sim mujoco
uv run train --algo appo --task g1_motion_tracking --sim mujoco training.no_play=true
Expand Down
2 changes: 0 additions & 2 deletions docs/sphinx/source/zh_CN/4-developer_guide/9-sim2sim_contract_status.md
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Expand Up @@ -30,15 +30,13 @@ uv run scripts/audit_sim2sim_contracts.py
|---|---|---|
| allegro_inhand · allegro_inhand_grasp · g1_motion_tracking · go2_handstand · go2_joystick_flat | ✅ | 无 |
| g1_box_tracking | ❌ | `obs_normalization` false↔true；`obs_groups` critic 组差异 |
| g1_flip_tracking | ❌ | `obs_normalization` true↔false；`action_scale` 29 维↔默认 0.25；`sampling_mode` 两后端运行时同为 `start`（无害） |
| g1_walk_flat | ❌ | `env.actions.joint_pos.scale` 0.25↔0.5；`obs_normalization` false↔true；`obs_groups` |

## `src/unilab/conf/appo/task/`

| Task | 判定 | 分歧 |
|---|---|---|
| allegro_inhand · g1_motion_tracking · go2_joystick_flat | ✅ | 无 |
| g1_flip_tracking | ❌ | `action_scale` 29 维↔默认 0.25；`sampling_mode` 同为 `start`（无害） |
| g1_walk_flat | ⚪ | 仅 mujoco |

已迁移的 Unitree owner 由 `unitree_rl_unilab` 自行维护 contract audit；核心状态表不再声称覆盖它们。
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3 changes: 0 additions & 3 deletions docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md
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Expand Up @@ -74,7 +74,6 @@ uv run scripts/generate_support_matrix.py --write
| PPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | - | - | - |
| PPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | Tested | Registered | Configured |
| PPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - |
| PPO (torch) | `g1_flip_tracking` (G1 flip tracking) | Tested | - | - | - | - |
| PPO (torch) | `x2_wall_flip_tracking` (X2 wall flip tracking) | Tested | - | - | - | - |
| PPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - |
| PPO (torch) | `allegro_inhand_grasp` (allegro inhand grasp) | Tested | - | - | - | - |
Expand All @@ -83,11 +82,9 @@ uv run scripts/generate_support_matrix.py --write
| APPO (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | - | - | - |
| APPO (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | Registered | Registered | Registered |
| APPO (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | - | - | - | - |
| APPO (torch) | `g1_flip_tracking` (G1 flip tracking) | Tested | - | - | - | - |
| APPO (torch) | `allegro_inhand` (Allegro in-hand) | Tested | - | - | - | - |
| SAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Tested | Tested | Tested | Tested |
| SAC (torch) | `g1_motion_tracking` (G1 motion tracking) | Tested | Registered | Configured | Registered | Configured |
| SAC (torch) | `g1_flip_tracking` (G1 flip tracking) | Tested | - | Configured | - | - |
| SAC (torch) | `g1_wbt_obs` (g1 wbt obs) | Tested | - | - | - | - |
| FlashSAC (torch) | `go2_joystick_flat` (Go2 joystick) | Tested | - | - | - | - |
| FlashSAC (torch) | `g1_walk_flat` (G1 walk flat) | Tested | Registered | Configured | Registered | Registered |
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2 changes: 0 additions & 2 deletions scripts/tools/support_matrix.py
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Expand Up @@ -98,7 +98,6 @@
"go2_joystick_flat": 0,
"g1_walk_flat": 1,
"g1_motion_tracking": 2,
"g1_flip_tracking": 3,
"x2_wall_flip_tracking": 4,
"allegro_inhand": 5,
"allegro_sac": 6,
Expand All @@ -107,7 +106,6 @@
"go2_joystick_flat": "Go2 joystick",
"g1_walk_flat": "G1 walk flat",
"g1_motion_tracking": "G1 motion tracking",
"g1_flip_tracking": "G1 flip tracking",
"x2_wall_flip_tracking": "X2 wall flip tracking",
"allegro_inhand": "Allegro in-hand",
"allegro_sac": "Allegro SAC in-hand",
Expand Down
117 changes: 0 additions & 117 deletions src/unilab/conf/appo/task/g1_flip_tracking/mujoco.yaml
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110 changes: 0 additions & 110 deletions src/unilab/conf/ppo/task/g1_flip_tracking/mujoco.yaml
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15 changes: 0 additions & 15 deletions src/unilab/conf/sac/task/g1_flip_tracking/mjwarp_tensor.yaml
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