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后端支持矩阵¶

本页是后端参考页，放生成矩阵和需要精确查证的 backend 规则。它不承担首次阅读职责。

适合谁看¶

想按 task owner / algorithm / backend 精确查支持状态
想知道 Registered、Configured、Tested 的证据差异
想确认 playback 和 owner compose 的 backend 规则

Backend 选择规则¶

默认后端是 mujoco
切到 Motrix 用统一 CLI 的 --sim motrix
--sim mjwarp 当前只对应 g1_walk_flat host adapter；PPO (torch) 与 SAC (torch) 为 Tested，其他入口按下方矩阵查证，使用前需安装 mjwarp extra
--algo、--task、--sim 共同选择 owner YAML
不要把 training.sim_backend 当独立 backend switch

Playback Differences¶

mujoco: --render-mode auto 会导出 play_video.mp4
motrix: --render-mode auto 会打开交互式 renderer 窗口，不录制视频，不受 play_steps 限制
mjwarp: 默认仅支持显式、有限步数的 record，通过 task owner 的 MuJoCo visual model 离线录制；--render-mode interactive 路由到 MuJoCo 交互 viewer（mjwarp 跑物理、MuJoCo 渲染 env[0]，强制单 env）；不支持 auto 或 native renderer
isaacsim: auto 在有 display 时选择 Kit viewer，否则选择 headless RGB camera；当前真实主机仍有 RTX renderer 初始化 blocker，支持等级保持 Configured
--render-mode record: MuJoCo、mjwarp、Motrix 和 IsaacSim 都只录制视频
--render-mode none: 不回放

Support Matrix¶

下面的矩阵由 registry、owner YAML 和测试/验证清单自动汇总；不要手工编辑表格内容。需要刷新时运行：

uv run scripts/generate_support_matrix.py --write

Evidence Grades¶

等级	仓库事实来源
`Registered`	`ensure_registries()` 导入后的 `registry.list_registered_envs()` 中存在该 env/backend。
`Configured`	存在对应的 owner YAML：`src/unilab/conf/{ppo,appo,sac,td3,flashsac}/task/...`。
`Tested`	`tests/` 中有自动化覆盖该 entrypoint/task owner/backend 组合，或存在显式 maintainer 完整训练验证并具备近风险自动化测试。这里的 `Tested` 不等同于默认推荐路径。
`Benchmarked`	存在与该组合绑定的已提交 benchmark manifest。
`Recommended`	仓库中存在显式 recommendation 元数据。

Tested 只描述仓库中已有自动化覆盖或显式 maintainer 训练验证，不代表该组合具备同名 MuJoCo owner 的全部 backend capability；例如 phase-1 Motrix owner 可能只覆盖训练 smoke 和明确启用的 DR 子集。

mjwarp 完成训练验证的只有 g1_walk_flat host adapter：PPO (torch) 与 SAC (torch) owner 已完成训练验证，并有 backend、contract 与 playback 自动化覆盖，因此标记为 Tested。mjwarp playback 默认仅支持显式、有限步数的 record 并复用 MuJoCo 离线 renderer；uv run eval --sim mjwarp --render-mode interactive 路由到 MuJoCo 交互 viewer（mjwarp 跑物理、MuJoCo 渲染 env[0]，强制单 env）；不支持 auto 或 native playback。其他 entrypoint 中出现的 Registered 只表示 env/backend registry identity，不代表对应算法、terrain、完整 DR 或 production training 支持。

isaacgym 是 Python 3.8 子进程后端，当前只接入 g1_walk_flat。SAC (torch) owner 已在真机（external Python 3.8 worker runtime，不在仓库 CI 覆盖）完成训练与 record playback 验证，标记为 Tested；其余 isaacgym cell 最高只到 Configured（registry + owner YAML + compose/contract 覆盖），不代表任何训练或 play 验证。playback 走 IsaacGym 原生渲染（viewer + camera sensor 离屏录制），有显示器时 play_render_mode=auto 打开交互 viewer，无显示器时自动降级为离屏录制。

genesis 是进程内后端（genesis-world==1.3.3，要求 torch>=2.8 与 CUDA；一进程只允许一次 gs.init），当前只接入 g1_walk_flat 的 PPO (torch) 与 SAC (torch) owner。SAC cell 标记 Tested：真机完整训练验证（5000/5000 iterations，reward/mean 6.5 → 244.8，episode length → 987/1000，10.26M env steps / 224s wall time；run 2026-08-31_23-04-01_genesis）加 model_5000.pt 的 record playback 验证；PPO cell 最高只到 Configured（registry + owner YAML + compose/contract 覆盖），不代表训练验证。真机证据另有：env smoke 慢车道测试（tests/envs/locomotion/g1/test_g1_owner_contract.py：compose → env 构造 → keyframe reset → 12 步有限稳定 → cleanup，覆盖 ppo 与 sac 两棵树）在装有 CUDA 与 genesis extra 的机器上通过。adapter 的 materialize() 幂等且惰性触发（entity 校验在 env 的 materialize 钩子前读取状态 getter；isaacgym 后端同模式）。Genesis 在 import 时丢弃 MJCF 全局 <option>，owner YAML 显式重声明 genesis_integrator=implicitfast。原生 playback/渲染已接入：play_render_mode=auto 在有显示时打开 post-build 挂载的交互 viewer、无显示时降级离屏录制（record 写 play_video.mp4；get_physics_state 快照不声明）。未支持边界：geom 名称契约、terrain spawn 与 height scanner、contact sensor 为 per-link net-force 阈值近似（非 geom 对 data="found"）、get_geom_friction 类绝对摩擦 DR fail-closed（geom 摩擦只有 per-env ratio API）。

isaacsim 是 IsaacSim 5.1 / IsaacLab v2.3.0 的独立 Python 3.11 子进程后端，当前只接入 g1_walk_flat 的 PPO/SAC owner，矩阵标记为 Configured。仓库没有把 bounded headless physics smoke 和 mock rendering protocol 覆盖提升为训练或 playback 的 Tested 证据。eval 已接入 Kit viewer 与 IsaacLab RGB camera；当前真实主机在 RTX renderer 初始化阶段崩溃，因此没有成功 playback 证据，也不会生成占位视频。contact-force sensor 和 domain randomization 仍保持 fail-closed。

未检测到与这些组合绑定的已提交 benchmark manifest，因此当前不会自动提升到 Benchmarked。仓库中目前也没有单独的 recommendation 元数据，因此当前不会自动提升到 Recommended。

Entrypoint x Task Owner¶

Entrypoint	Task owner	MuJoCo	mjwarp	Motrix	IsaacGym	Genesis	IsaacSim	Newton	SuperDex
PPO (torch)	`go1_joystick_flat` (Go1 joystick)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`go2_joystick_flat` (Go2 joystick)	Tested	-	Tested	-	-	-	-	Configured
PPO (torch)	`go2_joystick_rough` (Go2 joystick rough)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Tested	Tested	Configured	Configured	Configured	Configured	-
PPO (torch)	`g1_motion_tracking` (G1 motion tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_flip_tracking` (G1 flip tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_wall_flip_tracking` (G1 wall flip tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`x2_wall_flip_tracking` (X2 wall flip tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`allegro_inhand` (Allegro in-hand)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`a2_joystick_flat` (a2 joystick flat)	Tested	-	-	-	-	-	-	-
PPO (torch)	`allegro_inhand_grasp` (allegro inhand grasp)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`fr3_joint_target` (fr3 joint target)	-	-	-	-	-	-	-	Configured
PPO (torch)	`g1_23dof_box_tracking` (g1 23dof box tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_23dof_climb_tracking` (g1 23dof climb tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_23dof_flip_tracking` (g1 23dof flip tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_23dof_motion_tracking` (g1 23dof motion tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_23dof_motion_tracking_deploy` (g1 23dof motion tracking deploy)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_23dof_walk_flat` (g1 23dof walk flat)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_23dof_walk_rough` (g1 23dof walk rough)	Tested	-	Registered	-	-	-	-	-
PPO (torch)	`g1_23dof_wall_flip_tracking` (g1 23dof wall flip tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_box_tracking` (g1 box tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_climb_tracking` (g1 climb tracking)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`g1_motion_tracking_deploy` (g1 motion tracking deploy)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`go1_joystick_rough` (go1 joystick rough)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`go2_footstand` (go2 footstand)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`go2w_joystick_flat` (go2w joystick flat)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`go2w_joystick_rough` (go2w joystick rough)	Tested	-	Tested	-	-	-	-	-
PPO (torch)	`stewart_balance` (stewart balance)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`go1_joystick_flat` (Go1 joystick)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`go2_joystick_flat` (Go2 joystick)	Tested	-	Tested	-	-	-	-	Registered
APPO (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Registered	Registered	Registered	Registered	Registered	Registered	-
APPO (torch)	`g1_motion_tracking` (G1 motion tracking)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`g1_flip_tracking` (G1 flip tracking)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`g1_wall_flip_tracking` (G1 wall flip tracking)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`allegro_inhand` (Allegro in-hand)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`g1_23dof_climb_tracking` (g1 23dof climb tracking)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`g1_23dof_flip_tracking` (g1 23dof flip tracking)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`g1_23dof_motion_tracking` (g1 23dof motion tracking)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`g1_23dof_walk_flat` (g1 23dof walk flat)	Tested	-	Registered	-	-	-	-	-
APPO (torch)	`g1_23dof_wall_flip_tracking` (g1 23dof wall flip tracking)	Tested	-	Tested	-	-	-	-	-
APPO (torch)	`g1_climb_tracking` (g1 climb tracking)	Tested	-	Tested	-	-	-	-	-
SAC (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Tested	Tested	Tested	Tested	Configured	Tested	-
SAC (torch)	`g1_walk_rough` (G1 walk rough)	Tested	-	Tested	-	-	-	-	-
SAC (torch)	`g1_motion_tracking` (G1 motion tracking)	Tested	Configured	Tested	-	-	-	-	-
SAC (torch)	`g1_flip_tracking` (G1 flip tracking)	Tested	-	Registered	-	-	-	-	-
SAC (torch)	`g1_wall_flip_tracking` (G1 wall flip tracking)	Tested	-	Registered	-	-	-	-	-
SAC (torch)	`g1_23dof_flip_tracking` (g1 23dof flip tracking)	Tested	-	Registered	-	-	-	-	-
SAC (torch)	`g1_23dof_motion_tracking` (g1 23dof motion tracking)	Tested	-	Tested	-	-	-	-	-
SAC (torch)	`g1_23dof_walk_flat` (g1 23dof walk flat)	Tested	-	Tested	-	-	-	-	-
SAC (torch)	`g1_23dof_walk_rough` (g1 23dof walk rough)	Tested	-	Tested	-	-	-	-	-
SAC (torch)	`g1_23dof_wall_flip_tracking` (g1 23dof wall flip tracking)	Tested	-	Registered	-	-	-	-	-
SAC (torch)	`g1_23dof_wbt_obs` (g1 23dof wbt obs)	Tested	-	Registered	-	-	-	-	-
SAC (torch)	`g1_wbt_obs` (g1 wbt obs)	Tested	-	Registered	-	-	-	-	-
TD3 (torch)	`go1_joystick_flat` (Go1 joystick)	Registered	-	Tested	-	-	-	-	-
TD3 (torch)	`go2_joystick_flat` (Go2 joystick)	Registered	-	Tested	-	-	-	-	Registered
TD3 (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Registered	Registered	Registered	Registered	Registered	Registered	-
TD3 (torch)	`g1_23dof_walk_flat` (g1 23dof walk flat)	Tested	-	Registered	-	-	-	-	-
FlashSAC (torch)	`go2_joystick_flat` (Go2 joystick)	Tested	-	Registered	-	-	-	-	Registered
FlashSAC (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Configured	Tested	Registered	Registered	Registered	Registered	-
FlashSAC (torch)	`g1_23dof_walk_flat` (g1 23dof walk flat)	Tested	-	Tested	-	-	-	-	-

Source Index¶

Registry bootstrap: src/unilab/envs/** decorators via unilab.base.registry.ensure_registries().
Owner YAML scan: src/unilab/conf/ppo/task/**, src/unilab/conf/appo/task/**, src/unilab/conf/sac/task/**, src/unilab/conf/td3/task/**, src/unilab/conf/flashsac/task/**.
Generic compose coverage: tests/config/test_config_system.py::test_supported_task_composes.
SuperDex remains Configured: FR3 has optional CPU rollout/spawn coverage in tests/envs/test_fr3_superdex.py; the Go2 research profile has policy-contract/rollout/checkpoint coverage in tests/envs/test_go2_superdex.py. Neither profile claims full-training performance or cross-platform support.
Validated mjwarp entrypoints are explicitly recorded in _MAINTAINER_VALIDATED_MJWARP_ENTRYPOINT_TASKS; near-risk coverage lives in tests/base/test_mjwarp_backend.py, tests/base/test_backend_conformance.py, tests/base/test_mjwarp_differential.py, and tests/base/test_mjwarp_playback.py.
Validated isaacgym entrypoints are explicitly recorded in _MAINTAINER_VALIDATED_ISAACGYM_ENTRYPOINT_TASKS (real hardware via the external Python 3.8 worker runtime; not covered by repo CI).
Validated genesis entrypoints are explicitly recorded in _MAINTAINER_VALIDATED_GENESIS_ENTRYPOINT_TASKS (real hardware, genesis-world extra + CUDA; not covered by repo CI); near-risk coverage lives in tests/base/test_genesis_backend.py (fake runtime), tests/base/test_genesis_runtime.py (real-runtime slow lane), and the genesis env smoke in tests/envs/locomotion/g1/test_g1_owner_contract.py.
IsaacSim owner scope is intentionally not promoted to Tested; _MAINTAINER_VALIDATED_ISAACSIM_ENTRYPOINT_TASKS is empty until a maintainer records full training evidence. Rendering protocol coverage lives in tests/base/test_isaacsim_backend.py; it is not a substitute for successful real playback.
newton is an optional owner backed by Newton 1.5.1 and the MuJoCo-Warp 3.11 / Warp 1.16 line, which it shares with the mujoco / mjwarp extras (jointly installable in one environment). Validated newton entrypoints are explicitly recorded in _MAINTAINER_VALIDATED_NEWTON_ENTRYPOINT_TASKS (real hardware, newton extra + CUDA; not covered by repo CI); remaining cells rely on the G1 PPO/SAC owner configs, compose/contract checks, and fail-closed runtime/import boundaries. Native ViewerGL playback (offscreen record + interactive) is included in the newton extra and is the default renderer; an incomplete installation falls back to the MuJoCo snapshot renderer for record and stays fail-closed for interactive playback.