refactor: 统一 play 管线——训练入口复用 playback session 工厂 - #1250
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TATP-233 merged 1 commit intoAug 21, 2026
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- Route play_rsl_rl / play_him_ppo / play_appo / play_offpolicy through the create_*_playback_session factories; scripts keep only CLI assembly, checkpoint diagnostics, ONNX/JIT export, and run_playback_mode wiring. - Promote shared helpers to unilab.visualization.interactive_playback: infer_checkpoint_actor_input_dim, build_play_backend_adapter, available_backends_for_task, PlayInteractiveArgs, build_playback_config, normalize_checkpoint_value. - Extend create_rsl_rl_playback_session with runner_loader / guard_algo_name and expose runner/actor on sessions for entrypoint exports. - Load off-policy actors via load_play_actor so td3 noise_scales buffers no longer break strict state_dict loading. - Replace the local quaternion-to-rotmat helper with utils.rotation.np_matrix_from_quat; play_viser no longer imports underscore-private functions. - Track the materializer consumer move in test_backend_imports and add unit/smoke coverage for the new public API and all four play entries.
TATP-233
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August 21, 2026 14:50
TATP-233
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Fixes #1242. Part of #1239.
做什么
play_rsl_rl/play_him_ppo/play_appo/play_offpolicy改为复用unilab.visualization.interactive_playback的create_*_playback_session工厂；脚本只保留 CLI 组装、checkpoint 缺失诊断、ONNX/JIT 导出与run_playback_mode/render_play_mode调用。play_interactive.py中被复用的私有函数提升为库层公开 API：infer_checkpoint_actor_input_dim、build_play_backend_adapter、available_backends_for_task、PlayInteractiveArgs、build_playback_config、normalize_checkpoint_value。create_rsl_rl_playback_session新增runner_loader/guard_algo_name注入参数；RslRlPlaybackSession暴露runner/actor供入口导出。utils/rotation.np_matrix_from_quat（保留归一化行为）；play_viser.py不再 import 任何下划线函数。顺带修复
load_play_actor：修复 td3 checkpoint 的noise_scalesbuffer 导致 strictload_state_dict失败的问题。test_materializer_consumers_use_backend_facade消费方清单同步（materializer 消费从 play_interactive 移到库层）。不做
manip_loco/play_go2_arm_ik_only.py与train_hora_distill内 play 不在本期。resolve_sim2sim_config，同函数同参数）。Validation
make test-all本地通过（2189 passed, 28 skipped, 1 xfailed；module/script mode 冒烟全过）。runner_loader/guard_algo_name/td3 noise_scales 覆盖、四个入口 play 冒烟（工厂注入参数 + checkpoint 缺失早退 + loop 走 session）。