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| <title>力信息化动作 — React 数据集</title> | |
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| <style> | |
| :root{ | |
| --paper:#0d1526; --ink:#dce7f5; --dim:#7c8db0; --grid:#1a2540; | |
| --pose:#4fd8e0; --force:#ffb347; --target:#ff7847; --ok:#7be0a0; | |
| --card:#111b31; --line:#24345; | |
| } | |
| *{box-sizing:border-box} | |
| html{scroll-behavior:smooth} | |
| body{margin:0;background:var(--paper);color:var(--ink); | |
| font-family:'IBM Plex Sans','Noto Sans SC',sans-serif;line-height:1.75;font-size:16px; | |
| background-image: | |
| linear-gradient(var(--grid) 1px,transparent 1px), | |
| linear-gradient(90deg,var(--grid) 1px,transparent 1px); | |
| background-size:44px 44px;} | |
| .wrap{max-width:1000px;margin:0 auto;padding:0 24px 90px} | |
| h1,h2{font-family:'Fraunces','Noto Serif SC',serif} | |
| h1{font-size:2.6rem;font-weight:700;line-height:1.15;margin:0 0 14px} | |
| h2{font-size:1.5rem;font-weight:600;margin:64px 0 10px;color:var(--force)} | |
| h2::before{content:"§ ";color:var(--dim)} | |
| mono,.mono{font-family:'IBM Plex Mono',monospace} | |
| header{padding:72px 0 30px;border-bottom:1px dashed var(--line)} | |
| .kicker{font-family:'IBM Plex Mono',monospace;font-size:.78rem;letter-spacing:.18em; | |
| text-transform:uppercase;color:var(--force);margin-bottom:16px} | |
| .sub{color:var(--dim);max-width:760px;font-size:1.04rem} | |
| .card{background:var(--card);border:1px solid var(--line);border-radius:10px; | |
| padding:22px 24px;margin:18px 0;position:relative} | |
| .card::after{content:"";position:absolute;inset:0;border-radius:10px;pointer-events:none; | |
| box-shadow:inset 0 1px 0 rgba(255,255,255,.04)} | |
| .formula{font-family:'IBM Plex Mono',monospace;text-align:center;font-size:1.15rem; | |
| padding:20px;background:#0a1120;border:1px solid var(--line);border-radius:8px; | |
| color:var(--ink);overflow-x:auto} | |
| .formula b{color:var(--target)} | |
| .flow{display:flex;flex-wrap:wrap;gap:10px;align-items:stretch;justify-content:center;margin:22px 0} | |
| .fstep{background:#0a1120;border:1px solid var(--line);border-radius:8px;padding:12px 16px; | |
| font-size:.83rem;text-align:center;min-width:120px;font-family:'IBM Plex Mono',monospace} | |
| .fstep small{display:block;color:var(--dim);margin-top:4px;font-size:.72rem} | |
| .farr{align-self:center;color:var(--force);font-size:1.2rem} | |
| table{border-collapse:collapse;width:100%;font-size:.88rem;margin:12px 0; | |
| font-variant-numeric:tabular-nums} | |
| th,td{padding:8px 10px;border-bottom:1px solid var(--line);text-align:right} | |
| th{color:var(--dim);font-family:'IBM Plex Mono',monospace;font-size:.74rem; | |
| text-transform:uppercase;letter-spacing:.08em} | |
| td:first-child,th:first-child{text-align:left} | |
| .big{font-family:'Fraunces',serif;font-size:2rem;color:var(--ok)} | |
| .stat-row{display:grid;grid-template-columns:repeat(auto-fit,minmax(190px,1fr));gap:14px;margin:20px 0} | |
| .stat{background:var(--card);border:1px solid var(--line);border-radius:10px;padding:16px 18px} | |
| .stat .lbl{font-family:'IBM Plex Mono',monospace;font-size:.72rem;color:var(--dim); | |
| text-transform:uppercase;letter-spacing:.1em} | |
| .stat .val{font-family:'Fraunces',serif;font-size:1.7rem;margin-top:4px;color:var(--ink)} | |
| .stat .val.ok{color:var(--ok)} | |
| img,video{max-width:100%;border-radius:8px;border:1px solid var(--line);display:block;margin:12px auto} | |
| a{color:var(--pose)} a:hover{color:var(--force)} | |
| code{font-family:'IBM Plex Mono',monospace;background:#0a1120;padding:2px 6px;border-radius:4px;font-size:.85em} | |
| pre{background:#0a1120;border:1px solid var(--line);border-radius:8px;padding:16px; | |
| overflow-x:auto;font-size:.82rem;line-height:1.5} | |
| pre code{background:none;padding:0} | |
| .legend{display:flex;gap:20px;font-family:'IBM Plex Mono',monospace;font-size:.76rem; | |
| color:var(--dim);flex-wrap:wrap;margin:8px 2px} | |
| .legend span::before{content:"—— ";font-weight:700} | |
| .legend .l-pose::before{color:var(--pose)} .legend .l-force::before{color:var(--force)} | |
| .legend .l-tgt::before{color:var(--target)} | |
| #readout{display:grid;grid-template-columns:repeat(auto-fit,minmax(150px,1fr));gap:10px; | |
| margin-top:12px;font-family:'IBM Plex Mono',monospace} | |
| #readout .r{background:#0a1120;border:1px solid var(--line);border-radius:6px;padding:10px 12px} | |
| #readout .r .k{font-size:.68rem;color:var(--dim);text-transform:uppercase;letter-spacing:.08em} | |
| #readout .r .v{font-size:1.25rem;margin-top:2px} | |
| #chartbox{cursor:crosshair;touch-action:none} | |
| .hint{font-family:'IBM Plex Mono',monospace;font-size:.74rem;color:var(--dim);text-align:center;margin-top:6px} | |
| .pill{display:inline-block;border:1px solid var(--line);border-radius:999px; | |
| padding:3px 12px;font-size:.75rem;font-family:'IBM Plex Mono',monospace; | |
| color:var(--dim);margin-right:8px;margin-top:14px} | |
| footer{margin-top:70px;padding-top:20px;border-top:1px dashed var(--line); | |
| color:var(--dim);font-size:.82rem} | |
| @media (max-width:700px){h1{font-size:1.9rem}} | |
| </style></head><body><div class="wrap"> | |
| <header> | |
| <div class="kicker">React 数据集 · 动作处理</div> | |
| <h1>动作缺失的另一半:<br>把力还给只有位姿的演示数据</h1> | |
| <p class="sub">React 的动作由 OptiTrack 跟踪的传感器位姿计算而来——和所有 | |
| UMI 类数据一样,演示位姿<i>就是</i>实际达到的位姿。刚度控制器输出 | |
| <span class="mono">F = k·(target − actual)</span>, | |
| 因此复现这些动作只能复现运动,按压的<b>意图力恒为零</b>。 | |
| 本页在真实 episode 数据上展示每个动作如何被变换,以及这个变换值多少。</p> | |
| <span class="pill">36 个 episode · 72 个传感器侧</span> | |
| <span class="pill">全程无 F/T 传感器</span> | |
| <span class="pill"><a href="index.html" style="color:inherit;text-decoration:none">↖ 完整方法与验证(英文)</a></span> | |
| <span class="pill"><a href="actions.html" style="color:inherit;text-decoration:none">English</a></span> | |
| </header> | |
| <h2>动作是怎么被处理的</h2> | |
| <div class="card"> | |
| <div class="flow"> | |
| <div class="fstep">pose p<sub>t</sub><small>OptiTrack,30 Hz</small></div> | |
| <div class="farr">+</div> | |
| <div class="fstep">GelSight 图像<small>640×480 RGB</small></div> | |
| <div class="farr">→</div> | |
| <div class="fstep">F̂<sub>n</sub><small>深度 → Winkler,<br>FEATS 定标</small></div> | |
| <div class="farr">→</div> | |
| <div class="fstep">n̂ = R<sub>t</sub>·a<sub>gel</sub><small>双球标定的 gel 轴</small></div> | |
| <div class="farr">→</div> | |
| <div class="fstep" style="border-color:var(--target)">动作目标<small>虚拟,穿过接触面</small></div> | |
| </div> | |
| <div class="formula">p<sub><b>target</b></sub> = p<sub>observed</sub> + ( F̂<sub>n</sub> / k ) · n̂ | |
| k = 1500 N/m</div> | |
| <p>动作仍然是位姿。自由空间中 F̂<sub>n</sub> = 0,目标<i>就是</i>观测位姿——什么都不变。 | |
| 接触时,目标沿 gel 法向越过接触面,偏移量恰好是刚度为 k 的阻抗控制器要输出演示力所需的位移。 | |
| 不新增动作维度,部署端不需要力控接口——即 DexForce 式变换(arXiv:2501.10356), | |
| 只是驱动它的力来自触觉估计而非力传感器测量。</p> | |
| </div> | |
| <h2>真实数据实时演示——在曲线上拖动</h2> | |
| <div class="card"> | |
| <p style="margin-top:0"><span class="mono">motherboard/2026-05-10/episode_000</span> | |
| (左传感器)以最强按压为中心的 90 秒。上:估计的法向力。 | |
| 下:变换对动作的全部效果——目标相对观测位姿沿 gel 法向的偏移。 | |
| 青色零线<i>就是</i>原始动作;这段窗口里传感器本身扫过 ±170 mm, | |
| 所以偏移单独用毫米刻度画出。</p> | |
| <div id="chartbox"></div> | |
| <div class="legend"><span class="l-force">法向力 F̂ [N]</span> | |
| <span class="l-pose">观测位姿 = 零偏移(变换前的动作)</span> | |
| <span class="l-tgt">沿 n̂ 的目标偏移 F̂/k(变换后的动作)</span></div> | |
| <div id="readout"> | |
| <div class="r"><div class="k">t</div><div class="v" id="ro-t">–</div></div> | |
| <div class="r"><div class="k">法向力 F̂</div><div class="v" id="ro-f" style="color:var(--force)">–</div></div> | |
| <div class="r"><div class="k">目标偏移 F̂/k</div><div class="v" id="ro-p" style="color:var(--target)">–</div></div> | |
| <div class="r"><div class="k">状态</div><div class="v" id="ro-s">–</div></div> | |
| </div> | |
| <p class="hint">拖动 / 悬停查看 · 数据为逐行真实输出,非示意图</p> | |
| </div> | |
| <h2>效果,用数字说话</h2> | |
| <div class="stat-row"> | |
| <div class="stat"><div class="lbl">自由空间不变性</div> | |
| <div class="val ok">0.0e+00 m</div> | |
| <div class="lbl" style="margin-top:6px">F̂=0 时 |target − pose| 的最大值,全部 72 个侧</div></div> | |
| <div class="stat"><div class="lbl">往返误差</div> | |
| <div class="val ok">9e-14 N</div> | |
| <div class="lbl" style="margin-top:6px">k·‖target−pose‖ 对比 F̂ —— 机器精度</div></div> | |
| <div class="stat"><div class="lbl">接触期穿透量</div> | |
| <div class="val">1.0 mm <span style="font-size:.9rem;color:var(--dim)">中位数</span></div> | |
| <div class="lbl" style="margin-top:6px">最硬的 ~23 N 按压达 15.2 mm</div></div> | |
| </div> | |
| <div class="card"> | |
| <p style="margin-top:0"><b>为什么这对训练重要。</b>在原始位姿上训练的策略学到的是 | |
| "碰到表面就停":标签说指尖停在接触面上,部署时控制器输出的力只是跟踪误差碰巧产生的残余。 | |
| 用力信息化目标后,标签本身编码了<i>按多重</i>——DexForce 在带力测量的拖动示教上测得: | |
| 不做这个修正任务成功率接近零,做了是 76%;这里同样的变换由触觉估计的力驱动, | |
| 估计器已对 FEA 真值验证(混合 ρ=0.70,未见过的按压头形状 0.85——见<a href="index.html">主页(英文)</a>)。</p> | |
| <img src="assets/dexforce_motherboard_episode_000_left.png" alt="virtual target offsets"> | |
| <video controls muted loop playsinline preload="metadata" src="assets/clip_motherboard_episode_000_left.mp4"></video> | |
| <p class="hint">驱动动作变换的力信号,与触觉流实时对齐</p> | |
| </div> | |
| <h2>怎么用</h2> | |
| <div class="card"> | |
| <pre><code># 每个 episode 的力估计以 npz 形式随 release 一起发布 | |
| import numpy as np | |
| from force_recovery.dexforce import force_informed_targets, gel_axis | |
| from force_recovery.evaluate import median3_fresh | |
| z = np.load("force_recovery/motherboard/2026-05-10/episode_000_left.npz") | |
| force = median3_fresh(z["force_normal_n"], is_new) # 只在 fresh 帧上去尖峰 | |
| act = force_informed_targets(pose, force, gel_axis("motherboard", "left")) | |
| train_targets = act.target_pos # (T,3) —— 直接替换位姿标签</code></pre> | |
| <p>需要直说的告诫:绝对牛顿值带有 FEATS 定标的不确定性(跨传感器刻度漂移 2–4×; | |
| 集内相对力才是可靠的部分);剪切主导的接触是法向力估计器的盲区; | |
| 旧录制的触觉有效更新率约 8.5 fps——<code>tactile_*_is_new</code> | |
| 标记了哪些行携带新的力证据。</p> | |
| </div> | |
| <footer>React 力恢复 · 数据集 <a href="https://huggingface.co/datasets/yxma/React">yxma/React</a> | |
| · 方法与外部验证见<a href="index.html">主页(英文)</a> | |
| · 变换:DexForce (2501.10356) · 力估计:gsrobotics 光度立体 + Winkler,FEATS 定标 (2411.03315)</footer> | |
| </div> | |
| <script> | |
| fetch('assets/action_trace.json').then(r=>r.json()).then(D=>{ | |
| const W=940,H1=170,H2=250,GAP=34,PAD_L=56,PAD_R=16,H=H1+H2+GAP+40; | |
| const N=D.force_n.length,fps=D.meta.fps; | |
| const box=document.getElementById('chartbox'); | |
| const svgNS='http://www.w3.org/2000/svg'; | |
| const svg=document.createElementNS(svgNS,'svg'); | |
| svg.setAttribute('viewBox',`0 0 ${W} ${H}`);svg.style.width='100%'; | |
| box.appendChild(svg); | |
| const X=i=>PAD_L+(W-PAD_L-PAD_R)*i/(N-1); | |
| const fmax=Math.max(...D.force_n)*1.08; | |
| const Yf=v=>H1-(H1-8)*v/fmax; | |
| // bottom panel: the OFFSET itself. The trajectory sweeps +-170mm here while | |
| // the offset stays <=5mm — plotting raw positions hides the transform. | |
| const smin=0,smax=Math.max(...D.pen_mm)*1.12; | |
| const Y2=v=>H1+GAP+H2-(H2-8)*(v-smin)/(smax-smin); | |
| function poly(ys,color,w,dash){const p=document.createElementNS(svgNS,'path'); | |
| let d='M';for(let i=0;i<N;i++){d+=X(i).toFixed(1)+' '+ys(i).toFixed(1)+(i<N-1?' L':'');} | |
| p.setAttribute('d',d);p.setAttribute('fill','none');p.setAttribute('stroke',color); | |
| p.setAttribute('stroke-width',w);if(dash)p.setAttribute('stroke-dasharray',dash); | |
| svg.appendChild(p);return p;} | |
| // axes | |
| [[0,'0'],[fmax/1.08,fmax.toFixed(0)]].forEach(([v,t])=>{ | |
| const l=document.createElementNS(svgNS,'text');l.textContent=t+' N'; | |
| l.setAttribute('x',PAD_L-8);l.setAttribute('y',Yf(v)+4);l.setAttribute('text-anchor','end'); | |
| l.setAttribute('fill','#7c8db0');l.setAttribute('font-size','11'); | |
| l.setAttribute('font-family','IBM Plex Mono');svg.appendChild(l);}); | |
| [[0,'0 mm'],[smax/1.12,(smax/1.12).toFixed(1)+' mm']].forEach(([v,t])=>{ | |
| const l=document.createElementNS(svgNS,'text');l.textContent=t; | |
| l.setAttribute('x',PAD_L-8);l.setAttribute('y',Y2(v)+4);l.setAttribute('text-anchor','end'); | |
| l.setAttribute('fill','#7c8db0');l.setAttribute('font-size','11'); | |
| l.setAttribute('font-family','IBM Plex Mono');svg.appendChild(l);}); | |
| // commanded-penetration band between the zero-line (observed) and the target | |
| const band=document.createElementNS(svgNS,'path'); | |
| let d='M';for(let i=0;i<N;i++)d+=X(i).toFixed(1)+' '+Y2(D.pen_mm[i]).toFixed(1)+(i<N-1?' L':''); | |
| d+=' L'+X(N-1).toFixed(1)+' '+Y2(0)+' L'+X(0).toFixed(1)+' '+Y2(0); | |
| band.setAttribute('d',d+' Z');band.setAttribute('fill','rgba(255,120,71,.28)');svg.appendChild(band); | |
| poly(i=>Yf(D.force_n[i]),'#ffb347',1.4); | |
| poly(i=>Y2(0),'#4fd8e0',1.3); | |
| poly(i=>Y2(D.pen_mm[i]),'#ff7847',1.3); | |
| // cursor | |
| const cur=document.createElementNS(svgNS,'line'); | |
| cur.setAttribute('y1',0);cur.setAttribute('y2',H1+GAP+H2); | |
| cur.setAttribute('stroke','#dce7f5');cur.setAttribute('stroke-width','1'); | |
| cur.setAttribute('stroke-dasharray','3 3');svg.appendChild(cur); | |
| const dotF=document.createElementNS(svgNS,'circle');dotF.setAttribute('r',4); | |
| dotF.setAttribute('fill','#ffb347');svg.appendChild(dotF); | |
| const dotT=document.createElementNS(svgNS,'circle');dotT.setAttribute('r',4); | |
| dotT.setAttribute('fill','#ff7847');svg.appendChild(dotT); | |
| function setI(i){i=Math.max(0,Math.min(N-1,i)); | |
| const x=X(i);cur.setAttribute('x1',x);cur.setAttribute('x2',x); | |
| dotF.setAttribute('cx',x);dotF.setAttribute('cy',Yf(D.force_n[i])); | |
| dotT.setAttribute('cx',x);dotT.setAttribute('cy',Y2(D.pen_mm[i])); | |
| document.getElementById('ro-t').textContent=(i/fps).toFixed(2)+' s'; | |
| document.getElementById('ro-f').textContent=D.force_n[i].toFixed(2)+' N'; | |
| document.getElementById('ro-p').textContent=(D.pen_mm[i]).toFixed(2)+' mm'; | |
| const s=document.getElementById('ro-s'); | |
| if(D.force_n[i]>0.1){s.textContent='接触中';s.style.color='var(--target)';} | |
| else{s.textContent='自由 — 目标 ≡ 位姿';s.style.color='var(--ok)';}} | |
| function fromEvent(e){const r=svg.getBoundingClientRect(); | |
| const px=((e.touches?e.touches[0].clientX:e.clientX)-r.left)/r.width*W; | |
| setI(Math.round((px-PAD_L)/(W-PAD_L-PAD_R)*(N-1)));} | |
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| </body></html> |