diff --git a/conf/ppo/task/g1_motion_tracking_deploy/motrix.yaml b/conf/ppo/task/g1_motion_tracking_deploy/motrix.yaml
deleted file mode 100644
index 223d7b964..000000000
--- a/conf/ppo/task/g1_motion_tracking_deploy/motrix.yaml
+++ /dev/null
@@ -1,52 +0,0 @@
-# @package _global_
-training:
-  task_name: G1MotionTrackingDeploy
-  sim_backend: motrix
-  play_env_num: 128
-  play_steps: 1000
-algo:
-  num_envs: 1024
-  max_iterations: 15000
-  save_interval: 500
-  obs_groups:
-    actor:
-      - actor
-  algorithm:
-    entropy_coef: 0.005
-  noise_config:
-    level: 1.0
-    scale_joint_angle: 0.01
-    scale_joint_vel: 1.5
-    scale_gyro: 0.2
-play_profile:
-  enabled: true
-  env:
-    render_spacing: 2.5
-  scene:
-    enabled: true
-    source_model_file: src/unilab/assets/robots/g1/scene_flat.xml
-    ground_texture_file: src/unilab/assets/robots/g1/textures/floor.png
-    skybox_rgb1: [0.90, 0.90, 0.91]
-    skybox_rgb2: [0.68, 0.68, 0.70]
-    ground_texrepeat: [0.25, 0.25]
-reward:
-  scales:
-    motion_global_root_pos: 1.0
-    motion_global_root_ori: 0.5
-    motion_body_pos: 1.0
-    motion_body_ori: 1.0
-    motion_body_lin_vel: 1.0
-    motion_body_ang_vel: 1.0
-    motion_joint_pos: 0.0
-    motion_joint_vel: 0.0
-    action_rate_l2: -0.05
-    joint_limit: -10.0
-    undesired_contacts: -0.1
-  std_root_pos: 0.3
-  std_root_ori: 0.4
-  std_body_pos: 0.3
-  std_body_ori: 0.4
-  std_body_lin_vel: 1.0
-  std_body_ang_vel: 3.14
-  std_joint_pos: 0.2
-  std_joint_vel: 1.0
diff --git a/docs/sphinx/source/en/5-reference/5-support_matrix.md b/docs/sphinx/source/en/5-reference/5-support_matrix.md
index 2d15195d7..21b9ebc2f 100644
--- a/docs/sphinx/source/en/5-reference/5-support_matrix.md
+++ b/docs/sphinx/source/en/5-reference/5-support_matrix.md
@@ -51,7 +51,7 @@ recommendation metadata, so rows do not auto-promote to `Benchmarked` or
 | PPO (torch) | `allegro_inhand_grasp` | Tested | Tested |
 | PPO (torch) | `g1_box_tracking` | Tested | Tested |
 | PPO (torch) | `g1_climb_tracking` | Tested | Tested |
-| PPO (torch) | `g1_motion_tracking_deploy` | Tested | Tested |
+| PPO (torch) | `g1_motion_tracking_deploy` | Tested | Registered |
 | PPO (torch) | `go1_joystick_rough` | Tested | Tested |
 | PPO (torch) | `go2_arm_manip_loco` | Tested | - |
 | PPO (torch) | `go2_footstand` | Tested | - |
@@ -70,7 +70,7 @@ recommendation metadata, so rows do not auto-promote to `Benchmarked` or
 | PPO (mlx) | `allegro_inhand_grasp` | Configured | Configured |
 | PPO (mlx) | `g1_box_tracking` | Configured | Configured |
 | PPO (mlx) | `g1_climb_tracking` | Configured | Configured |
-| PPO (mlx) | `g1_motion_tracking_deploy` | Configured | Configured |
+| PPO (mlx) | `g1_motion_tracking_deploy` | Configured | Registered |
 | PPO (mlx) | `go1_joystick_rough` | Configured | Configured |
 | PPO (mlx) | `go2_arm_manip_loco` | Configured | - |
 | PPO (mlx) | `go2_footstand` | Configured | - |
diff --git a/docs/sphinx/source/zh_CN/4-developer_guide/9-sim2sim_contract_status.md b/docs/sphinx/source/zh_CN/4-developer_guide/9-sim2sim_contract_status.md
index 13a453cac..9505ff003 100644
--- a/docs/sphinx/source/zh_CN/4-developer_guide/9-sim2sim_contract_status.md
+++ b/docs/sphinx/source/zh_CN/4-developer_guide/9-sim2sim_contract_status.md
@@ -33,8 +33,7 @@ uv run scripts/audit_sim2sim_contracts.py
 | g1_flip_tracking | ❌ | `empirical_normalization` true↔false；`obs_groups`；`action_scale` 29 维↔默认 0.25；`sampling_mode` 两后端运行时同为 `start`（无害） |
 | g1_walk_flat | ❌ | `action_scale` 0.25↔0.5；`empirical_normalization` false↔true；`obs_groups` |
 | go1_joystick_flat | ❌ | `empirical_normalization` false↔true |
-| g1_motion_tracking_deploy | ❌ | `action_scale` 29 维↔默认 0.25 |
-| go2_footstand | ⚪ | 仅 mujoco |
+| g1_motion_tracking_deploy · go2_footstand | ⚪ | 仅 mujoco |
 
 ## `conf/appo/task/`
 
diff --git a/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md b/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md
index 68abc56e0..f95e9becf 100644
--- a/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md
+++ b/docs/sphinx/source/zh_CN/5-reference/5-support_matrix.md
@@ -63,7 +63,7 @@ uv run scripts/generate_support_matrix.py --write
 | 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) | `g1_motion_tracking_deploy` (g1 motion tracking deploy) | Tested | Registered |
 | 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 | - |
@@ -83,7 +83,7 @@ uv run scripts/generate_support_matrix.py --write
 | 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) | `g1_motion_tracking_deploy` (g1 motion tracking deploy) | Configured | Registered |
 | 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 | - |