真机三任务考试 rollout(09-21~22):扫地/倒水/擦盘子 × 纯真机 vs 混合,每 ckpt 10 条现场打分;含右腕相机位移说明与作废数据

Data/Exam_sep_21/NOTE_camera_shift.md

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+# 右腕相机位移(2026-09-22 01:xx 发现)
+
+扫地考完、倒水开考之间(拆扫把簸箕/放水壶杯子那一步)右腕 ZED(SN 307208395)被碰歪,之后一直歪着:
+- 同一起手关节角下,右腕画面相对 09-20 平移 +433 px、相位相关 0.00~0.03(无重叠);左腕未动(±5 px)。
+- 扫地考试全程相机与 09-21 晚测试一致(0 px)→ **扫地 20 条有效**。
+- 倒水 20 条(sim+real 4/10、纯real 1/10)是歪着跑的 → **保留但不可与 09-19 成功 ep8 直接比较**(操作者决定保留)。
+- 擦盘子 13 条(纯real 10 + sim+real 3)**作废**,挂在 void_camera_shift/,修好相机后重考。
+
+参考图:~/Desktop/Yanghong/right_wrist_REF_0920_clean18_start.png(09-20 擦盘子起手式右腕画面)。

Data/Exam_sep_21/README.md

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+# 真机三任务考试 rollout（2026-09-21 深夜 ~ 09-22 凌晨）
+
+Dexmate Vega-1P + 双 Sharpa 手，本地 5090 推理（`inference: local`，每条记服务 pid + ckpt md5），
+每份 ckpt 10 条，操作者每条停下后当场打分（ENTER 成功 / 空格 失败）。LeRobot v2.1，20 Hz，6 路相机
+（head / left_wrist / right_wrist = 策略输入；kinect_0/1/2 = 第三方机位）。
+
+## 成绩
+
+| 任务 | 纯真机 | 混合（上色 sim 预训练 + 真机微调） |
+|---|---|---|
+| 扫地 `sweep_*` | **0/10**（`sw_real25_latest`） | **8/10**（`sw2tex_ftU_latest`） |
+| 倒水 第一轮 `pour_*`（右腕相机歪着，见下） | 1/10（`real25_latest`） | 4/10（`tex_ftU`） |
+| 倒水 第二轮 `pour2_*`（相机修好） | 未测 | **5/10**（`tex_ftU`） |
+| 擦盘子 `clean18_*`（相机修好后重考） | **5/10**（`c18_real29_latest`） | **6/10**（`c18_ftU_latest`） |
+
+三个任务混合都 ≥ 纯真机；扫地差距最大。逐条记录见 `results.jsonl`（含 ckpt 文件、md5、帧数、时长、打分），
+汇总表 `summary.md`。
+
+## 目录
+
+- `<task>_<label>/` —— 每份 ckpt 一个 LeRobot 数据集（10 回合），`meta/rollouts.jsonl` 每条带 ckpt + md5
+- `results.jsonl` —— 考试逐条记录（唯一真源）；`summary.md` —— 由它生成
+- `NOTE_camera_shift.md` —— 右腕相机位移事故说明
+- `void_camera_shift/` —— **作废数据**：擦盘子第一次考试的 14 条（右腕相机歪着跑的）+ 作废前的 results 备份。别拿来算成绩
+
+## 右腕相机位移（必读）
+
+扫地考完、倒水开考之间（拆扫把、放水壶杯子那一步）右腕 ZED（SN 307208395）被碰歪：同一起手关节角下画面相对
+09-20 平移 +433 px、相位相关 ≈ 0（无重叠）；左腕未动。扫地全程相机与考前一致 → **扫地 20 条有效**；
+倒水第一轮 20 条歪着跑的 → 保留但不可与 09-19 成功 ep8 直接比；擦盘子第一次 14 条作废重考。
+修好后用 `scripts/wrist_align.py` 对 09-19 倒水参考帧校准到 dx +2.5 / dy +0.4 px。
+
+## ckpt 出处
+
+| 本地文件 | 8 卡机原件（`RL_*_dp/datasets/dp/runs/`） | md5 |
+|---|---|---|
+| `sw_real25_latest.ckpt` | `sw_real25/latest.ckpt` | `4b205dd9…` |
+| `sw2tex_ftU_latest.ckpt` | `sw2tex_ftU/latest.ckpt` | `422a6a27…` |
+| `real25_latest.ckpt` | `p17real25_H_hw/latest.ckpt` | `14605ce2…` |
+| `tex_ftU.ckpt` | `p17tex_ftU/latest.ckpt` | `7d8276a2…` |
+| `c18_real29_latest.ckpt` | `c18_real29/latest.ckpt` | `e18f0382…` |
+| `c18_ftU_latest.ckpt` | `c18tex_ftU/latest.ckpt` | `9b356852…` |
+
+全部为 EMA 瘦身版（1.4G），`serve_policy_img.py --num_inference_steps 16`。

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