优化PPO充电与避障策略

扩展观测特征到157维，加入充电桩、NPC、电量安全余量、地图统计和本步清扫信息。

增加低电量回充动作过滤、NPC危险区过滤，并调整奖励和终局日志以突出充电、避障和真实清扫得分。

agent_ppo/agent.py

@@ -55,9 +55,9 @@ class Agent(BaseAgent):
         self.last_reward = 0.0
 
     def observation_process(self, env_obs):
-        """Convert raw env_obs to ObsData (69D feature + legal action mask).
+        """Convert raw env_obs to ObsData (feature + legal action mask).
 
-        将原始 env_obs 转换为 ObsData（69D 特征 + 合法动作掩码）。
+        将原始 env_obs 转换为 ObsData（特征 + 合法动作掩码）。
         """
         feature, legal_action, reward = self.preprocessor.feature_process(env_obs, self.last_action)
         self.last_reward = reward
@@ -135,8 +135,16 @@ class Agent(BaseAgent):
         加载模型检查点。
         """
         model_file_path = f"{path}/model.ckpt-{id}.pkl"
-        self.model.load_state_dict(torch.load(model_file_path, map_location=self.device))
-        self.logger.info(f"load model {model_file_path} successfully")
+        state_dict = torch.load(model_file_path, map_location=self.device)
+        try:
+            self.model.load_state_dict(state_dict)
+        except RuntimeError as err:
+            msg = f"skip incompatible model {model_file_path}, use current initialized model instead: {err}"
+            if self.logger:
+                self.logger.warning(msg)
+            return
+        if self.logger:
+            self.logger.info(f"load model {model_file_path} successfully")
 
     def _run_model(self, feature):
         """Gradient-free forward pass, returns (logits_np, value_np).