isaaclab.203203.cc
中转控制链路已接入，真机运行时与画面流待连接
这是 v9j-3 训练场景总览，不代表成功率。
正式训练使用 one-stage parkour terrain，2048 envs，10000 iterations，seed 42。
runtime_metadata.txt:6-17 · env.yaml:214-236低/高台阶是单独 eval terrain，用来录推理视频，不是训练分布。
artifacts/2026-06-28_v9j3_stair_ascent_collection/README.md:17-23 · artifacts/2026-06-28_v9j3_high_stairs_collection/README.md:10-19视频按钮展示推理画面；不能把“看起来有台阶”写成训练成功上台阶。
controlled_eval/README.md:11-16 · stair_ascent README.md:8-1320% columns. Rough gap track; gap size is 0.1 + 0.7*difficulty, so the configured range is 0.10-0.80 m.
20% columns. Rough hurdle track; hurdle height expression goes from 0.10-0.15 m at difficulty 0 to 0.20-0.40 m at difficulty 1.
0.1 + 0.3*difficulty5% columns. Same hurdle generator family, but apply_flat=true; the hurdle block is skipped by the terrain function.
20% columns. Rough step track; configured step height is 0.1 + 0.35*difficulty, so 0.10-0.45 m across the curriculum rows.
20% columns. Pyramid stairs with no added roughness; step height range is 0.05-0.25 m.
15% columns. Alternating stepping/incline parkour track over pits; incline height is 0.00-0.25 m across difficulty.
Configured but proportion is 0.0, so it is not sampled by the formal training terrain proportions.
formal training run 没有保存训练截图；下面两张来自已有 replay/eval 帧，只帮助人识别视频按钮内容，不作为训练场景或成功率证据。
没有找到 formal v9j-3 training run 的真实渲染截图或 per-terrain 视频；训练场景结论来自保存的 env/agent 配置、源码注册关系和训练 stdout。网页中的 terrain 小图是配置示意，不是 IsaacLab render。