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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
--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
--render-mode record: 两个后端都只录制视频
--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：`conf/{ppo,appo,offpolicy}/task/...`。
`Tested`	`tests/` 中有自动化覆盖该 entrypoint/task owner/backend 组合。这里的 `Tested` 包含 config compose 与脚本/运行时测试，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，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。

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	Motrix
PPO (torch)	`go1_joystick_flat` (Go1 joystick)	Tested	Tested
PPO (torch)	`go2_joystick_flat` (Go2 joystick)	Tested	Tested
PPO (torch)	`go2_joystick_rough` (Go2 joystick rough)	Tested	Tested
PPO (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Tested
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)	`allegro_inhand` (Allegro in-hand)	Tested	Tested
PPO (torch)	`sharpa_inhand` (Sharpa in-hand)	Tested	Tested
PPO (torch)	`sharpa_inhand_grasp` (Sharpa in-hand grasp)	Tested	Tested
PPO (torch)	`allegro_inhand_grasp` (allegro inhand grasp)	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_arm_manip_loco` (go2 arm manip loco)	Tested	Tested
PPO (torch)	`go2_footstand` (go2 footstand)	Tested	-
PPO (torch)	`go2_handstand` (go2 handstand)	Tested	Tested
PPO (torch)	`go2w_joystick_flat` (go2w joystick flat)	Tested	Tested
PPO (torch)	`go2w_joystick_rough` (go2w joystick rough)	Tested	Tested
PPO (mlx)	`go1_joystick_flat` (Go1 joystick)	Tested	Tested
PPO (mlx)	`go2_joystick_flat` (Go2 joystick)	Tested	Tested
PPO (mlx)	`go2_joystick_rough` (Go2 joystick rough)	Configured	Configured
PPO (mlx)	`g1_walk_flat` (G1 walk flat)	Tested	Tested
PPO (mlx)	`g1_motion_tracking` (G1 motion tracking)	Configured	Configured
PPO (mlx)	`g1_flip_tracking` (G1 flip tracking)	Configured	Configured
PPO (mlx)	`g1_wall_flip_tracking` (G1 wall flip tracking)	Configured	Configured
PPO (mlx)	`allegro_inhand` (Allegro in-hand)	Configured	Configured
PPO (mlx)	`sharpa_inhand` (Sharpa in-hand)	Configured	Configured
PPO (mlx)	`sharpa_inhand_grasp` (Sharpa in-hand grasp)	Configured	Configured
PPO (mlx)	`allegro_inhand_grasp` (allegro inhand grasp)	Configured	Configured
PPO (mlx)	`g1_box_tracking` (g1 box tracking)	Configured	Configured
PPO (mlx)	`g1_climb_tracking` (g1 climb tracking)	Configured	Configured
PPO (mlx)	`g1_motion_tracking_deploy` (g1 motion tracking deploy)	Configured	Configured
PPO (mlx)	`go1_joystick_rough` (go1 joystick rough)	Configured	Configured
PPO (mlx)	`go2_arm_manip_loco` (go2 arm manip loco)	Configured	Configured
PPO (mlx)	`go2_footstand` (go2 footstand)	Configured	-
PPO (mlx)	`go2_handstand` (go2 handstand)	Configured	Configured
PPO (mlx)	`go2w_joystick_flat` (go2w joystick flat)	Configured	Configured
PPO (mlx)	`go2w_joystick_rough` (go2w joystick rough)	Configured	Configured
APPO (torch)	`go1_joystick_flat` (Go1 joystick)	Tested	Registered
APPO (torch)	`go2_joystick_flat` (Go2 joystick)	Tested	Tested
APPO (torch)	`g1_walk_flat` (G1 walk flat)	Tested	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)	`sharpa_inhand` (Sharpa in-hand)	Tested	Tested
APPO (torch)	`g1_climb_tracking` (g1 climb tracking)	Tested	Tested
SAC (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Tested
SAC (torch)	`g1_walk_rough` (G1 walk rough)	Tested	Tested
SAC (torch)	`g1_motion_tracking` (G1 motion tracking)	Tested	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_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
TD3 (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Registered
FlashSAC (torch)	`go2_joystick_flat` (Go2 joystick)	Tested	Registered
FlashSAC (torch)	`g1_walk_flat` (G1 walk flat)	Tested	Registered

Source Index¶

Registry bootstrap: src/unilab/envs/** decorators via unilab.base.registry.ensure_registries().
Owner YAML scan: conf/ppo/task/**, conf/appo/task/**, conf/offpolicy/task/**.
Generic compose coverage: tests/config/test_config_system.py::test_supported_task_composes.
MLX-specific compose coverage only upgrades task owners listed in tests/config/test_config_system.py::_PPO_MLX_TASKS: go1_joystick_flat, go2_joystick_flat, g1_walk_flat.
MLX runtime smoke: tests/algos/test_mlx_ppo.py::test_mlx_ppo_one_iteration_real_env currently exercises go2_joystick_flat/mujoco.