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KraHsu merged 1 commit into from
May 29, 2026
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docs: translate mixed Core-concepts subheadings to Chinese (zh) #190

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2 changes: 1 addition & 1 deletion docs/concepts/eval-and-export.zh.md
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Expand Up @@ -42,7 +42,7 @@ genelab eval GeneLab-Inverted-Pendulum-v0 logs/rsl_rl/exp1/.../model_500.pt \
}
```

### Success rate
### 成功率

`success_rate` 在任务通过 `ManagerBasedRlEnv.step` 的 `extras["is_success"]`
publish 一个 per-env bool tensor 时计算（gymnasium 约定）。任务在 termination
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10 changes: 5 additions & 5 deletions docs/concepts/mdp.zh.md
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Expand Up @@ -2,7 +2,7 @@

`genelab.mdp` 是可复用 term 库。它本身不定义任务；任务配置从这个库里选择函数和类，并接到 manager 中。

## Actions 与 commands
## 动作与命令

| 区域 | 公开组件 |
|---|---|
Expand All @@ -13,7 +13,7 @@

action 把策略输出转换为仿真控制。command 持有 observation 和 reward 可读取的采样目标。

### Action terms
### 动作 term

| Term | Action dim | 说明 |
|---|---:|---|
Expand All @@ -33,21 +33,21 @@ action 把策略输出转换为仿真控制。command 持有 observation 和 rew
手臂 term 组合使用；例如 Franka Cartesian 抓取放置任务把 `DifferentialIKAction(body_name="hand")`
和 `BinaryGripperAction` 组合成 4 维 `(dx, dy, dz, gripper)` action space。

## Observations
## 观测

常见 observation 函数包括 base velocity、projected gravity、relative joint position/velocity、
last action、generated commands、sensor data、contact 特征、terrain height scan 和 motion-tracking 状态。

observation 函数应返回 `(num_envs, d)` 或 `(num_envs,)` tensor。Observation manager 负责可选噪声、缩放、裁剪和 group concat。

## Rewards 与 terminations
## 奖励与终止

reward 函数覆盖速度跟踪、action 平滑、关节加速度、姿态、关节限制、足端 clearance、slip、air time、
self collision、角动量和 motion-tracking 误差。termination 函数覆盖 time-out、姿态、root height 和 motion-tracking 失败。

reward 函数应返回 `(num_envs,)`；termination 函数应返回 `(num_envs,)` bool tensor。

## Events、curricula、metrics、noise
## 事件、课程、指标、噪声

| 区域 | 示例 |
|---|---|
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6 changes: 3 additions & 3 deletions docs/concepts/scene.zh.md
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Expand Up @@ -3,15 +3,15 @@
`InteractiveScene` 是 GeneLab 的 Genesis scene owner。它把声明式配置转换成 live Genesis handle，
并向环境其他部分暴露 Isaac Lab 风格的 entity wrapper。

## Scene 边界
## 场景边界

`InteractiveSceneCfg` 描述应该存在什么：env spacing、entities、terrain、sensors、recordings、
viewer interaction、batch rendering。`InteractiveScene` 持有实际存在的东西：Genesis `Scene`、
articulation、rigid object、sensor、terrain importer、recorder bridge 和 viewer 状态。

这种分离让配置可序列化，也让任务能在 Genesis 启动前被检查。

## Entities
## 实体

| Entity | 用途 |
|---|---|
Expand Down Expand Up @@ -60,7 +60,7 @@ ghost.set_pose(target_pos, target_quat)
底层用 Genesis 1.0 的 `Kinematic` 材质，刚体求解器不管它（无接触、无约束），
但传感器和相机依然能看到。

## 批渲染的 rasterizer 开关
## 批渲染的光栅化开关

`InteractiveSceneCfg.use_rasterizer`（默认 `False`）控制 `batch_render=True`
时 `BatchRenderer` 用什么后端：
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2 changes: 1 addition & 1 deletion docs/concepts/sensors.zh.md
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Expand Up @@ -30,7 +30,7 @@ observation term 可以通过 `mdp.sensor_data` 或自定义 callable 读取传

保持传感器名称稳定；它们会成为配置路径、recording source 和 term params。

## Camera 注意事项
## 相机注意事项

并行 RGB-D 渲染需要 CUDA 和 `InteractiveSceneCfg.batch_render=True`。把 camera task 当成不同于轻量状态 RL task 的硬件 profile。

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