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yxma commited on Aug 5

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force recovery: methods, evaluation, debug log

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actions.html +1 -0
actions_zh.html +250 -0

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@@ -92,6 +92,7 @@ episode data, and what the transformation is worth.</p>
 <span class="pill">36 episodes · 72 sensor-sides</span>
 <span class="pill">no F/T sensor involved</span>
 <span class="pill"><a href="index.html" style="color:inherit;text-decoration:none">↖ full methods &amp; validation</a></span>
 </header>
 <h2>How an action is processed</h2>

 <span class="pill">36 episodes · 72 sensor-sides</span>
 <span class="pill">no F/T sensor involved</span>
 <span class="pill"><a href="index.html" style="color:inherit;text-decoration:none">↖ full methods &amp; validation</a></span>
+<span class="pill"><a href="actions_zh.html" style="color:inherit;text-decoration:none">中文版</a></span>
 </header>
 <h2>How an action is processed</h2>

actions_zh.html ADDED Viewed

	@@ -0,0 +1,250 @@

+<!DOCTYPE html>
+<html lang="zh-CN"><head><meta charset="utf-8">
+<meta name="viewport" content="width=device-width,initial-scale=1">
+<title>力信息化动作 — React 数据集</title>
+<link rel="preconnect" href="https://fonts.googleapis.com">
+<link href="https://fonts.googleapis.com/css2?family=Fraunces:opsz,wght@9..144,300;9..144,600;9..144,700&family=IBM+Plex+Mono:wght@400;500&family=IBM+Plex+Sans:wght@400;600&family=Noto+Serif+SC:wght@600;700&family=Noto+Sans+SC:wght@400;500&display=swap" rel="stylesheet">
+<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&nbsp;=&nbsp;k·(target&nbsp;−&nbsp;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
+&nbsp;&nbsp;&nbsp;k = 1500 N/m</div>
+<p>动作仍然是位姿。自由空间中 F̂<sub>n</sub>&nbsp;=&nbsp;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)));}
+['mousemove','mousedown','touchmove','touchstart'].forEach(ev=>
+  box.addEventListener(ev,e=>{fromEvent(e);if(ev!=='mousemove')e.preventDefault();},{passive:false}));
+setI(Math.round(N*0.5));
+});
+</script>
+</body></html>