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force recovery: methods, evaluation, debug log

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  1. actions.html +258 -0
  2. assets/action_trace.json +1 -0
  3. index.html +2 -1
actions.html ADDED
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+ <!DOCTYPE html>
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+ <html lang="en"><head><meta charset="utf-8">
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+ <meta name="viewport" content="width=device-width,initial-scale=1">
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+ <title>Force-Informed Actions — React Dataset</title>
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+ <link rel="preconnect" href="https://fonts.googleapis.com">
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+ <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&display=swap" rel="stylesheet">
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+ <style>
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+ :root{
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+ --paper:#0d1526; --ink:#dce7f5; --dim:#7c8db0; --grid:#1a2540;
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+ --pose:#4fd8e0; --force:#ffb347; --target:#ff7847; --ok:#7be0a0;
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+ --card:#111b31; --line:#24345;
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+ }
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+ *{box-sizing:border-box}
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+ html{scroll-behavior:smooth}
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+ body{margin:0;background:var(--paper);color:var(--ink);
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+ font-family:'IBM Plex Sans',sans-serif;line-height:1.6;font-size:16px;
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+ background-image:
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+ linear-gradient(var(--grid) 1px,transparent 1px),
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+ linear-gradient(90deg,var(--grid) 1px,transparent 1px);
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+ background-size:44px 44px;}
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+ .wrap{max-width:1000px;margin:0 auto;padding:0 24px 90px}
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+ h1,h2{font-family:'Fraunces',serif}
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+ h1{font-size:2.6rem;font-weight:700;line-height:1.15;margin:0 0 14px}
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+ h2{font-size:1.5rem;font-weight:600;margin:64px 0 10px;color:var(--force)}
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+ h2::before{content:"§ ";color:var(--dim)}
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+ mono,.mono{font-family:'IBM Plex Mono',monospace}
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+ header{padding:72px 0 30px;border-bottom:1px dashed var(--line)}
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+ .kicker{font-family:'IBM Plex Mono',monospace;font-size:.78rem;letter-spacing:.18em;
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+ text-transform:uppercase;color:var(--force);margin-bottom:16px}
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+ .sub{color:var(--dim);max-width:760px;font-size:1.04rem}
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+ .card{background:var(--card);border:1px solid var(--line);border-radius:10px;
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+ padding:22px 24px;margin:18px 0;position:relative}
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+ .card::after{content:"";position:absolute;inset:0;border-radius:10px;pointer-events:none;
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+ box-shadow:inset 0 1px 0 rgba(255,255,255,.04)}
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+ .formula{font-family:'IBM Plex Mono',monospace;text-align:center;font-size:1.15rem;
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+ padding:20px;background:#0a1120;border:1px solid var(--line);border-radius:8px;
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+ color:var(--ink);overflow-x:auto}
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+ .formula b{color:var(--target)}
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+ .flow{display:flex;flex-wrap:wrap;gap:10px;align-items:stretch;justify-content:center;margin:22px 0}
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+ .fstep{background:#0a1120;border:1px solid var(--line);border-radius:8px;padding:12px 16px;
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+ font-size:.83rem;text-align:center;min-width:120px;font-family:'IBM Plex Mono',monospace}
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+ .fstep small{display:block;color:var(--dim);margin-top:4px;font-size:.72rem}
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+ .farr{align-self:center;color:var(--force);font-size:1.2rem}
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+ table{border-collapse:collapse;width:100%;font-size:.88rem;margin:12px 0;
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+ font-variant-numeric:tabular-nums}
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+ th,td{padding:8px 10px;border-bottom:1px solid var(--line);text-align:right}
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+ th{color:var(--dim);font-family:'IBM Plex Mono',monospace;font-size:.74rem;
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+ text-transform:uppercase;letter-spacing:.08em}
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+ td:first-child,th:first-child{text-align:left}
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+ .big{font-family:'Fraunces',serif;font-size:2rem;color:var(--ok)}
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+ .stat-row{display:grid;grid-template-columns:repeat(auto-fit,minmax(190px,1fr));gap:14px;margin:20px 0}
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+ .stat{background:var(--card);border:1px solid var(--line);border-radius:10px;padding:16px 18px}
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+ .stat .lbl{font-family:'IBM Plex Mono',monospace;font-size:.72rem;color:var(--dim);
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+ text-transform:uppercase;letter-spacing:.1em}
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+ .stat .val{font-family:'Fraunces',serif;font-size:1.7rem;margin-top:4px;color:var(--ink)}
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+ .stat .val.ok{color:var(--ok)}
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+ img,video{max-width:100%;border-radius:8px;border:1px solid var(--line);display:block;margin:12px auto}
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+ a{color:var(--pose)} a:hover{color:var(--force)}
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+ code{font-family:'IBM Plex Mono',monospace;background:#0a1120;padding:2px 6px;border-radius:4px;font-size:.85em}
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+ pre{background:#0a1120;border:1px solid var(--line);border-radius:8px;padding:16px;
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+ overflow-x:auto;font-size:.82rem;line-height:1.5}
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+ pre code{background:none;padding:0}
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+ .legend{display:flex;gap:20px;font-family:'IBM Plex Mono',monospace;font-size:.76rem;
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+ color:var(--dim);flex-wrap:wrap;margin:8px 2px}
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+ .legend span::before{content:"—— ";font-weight:700}
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+ .legend .l-pose::before{color:var(--pose)} .legend .l-force::before{color:var(--force)}
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+ .legend .l-tgt::before{color:var(--target)}
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+ #readout{display:grid;grid-template-columns:repeat(auto-fit,minmax(150px,1fr));gap:10px;
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+ margin-top:12px;font-family:'IBM Plex Mono',monospace}
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+ #readout .r{background:#0a1120;border:1px solid var(--line);border-radius:6px;padding:10px 12px}
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+ #readout .r .k{font-size:.68rem;color:var(--dim);text-transform:uppercase;letter-spacing:.08em}
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+ #readout .r .v{font-size:1.25rem;margin-top:2px}
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+ #chartbox{cursor:crosshair;touch-action:none}
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+ .hint{font-family:'IBM Plex Mono',monospace;font-size:.74rem;color:var(--dim);text-align:center;margin-top:6px}
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+ .pill{display:inline-block;border:1px solid var(--line);border-radius:999px;
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+ padding:3px 12px;font-size:.75rem;font-family:'IBM Plex Mono',monospace;
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+ color:var(--dim);margin-right:8px;margin-top:14px}
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+ footer{margin-top:70px;padding-top:20px;border-top:1px dashed var(--line);
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+ color:var(--dim);font-size:.82rem}
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+ @media (max-width:700px){h1{font-size:1.9rem}}
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+ </style></head><body><div class="wrap">
82
+
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+ <header>
84
+ <div class="kicker">React dataset · action processing</div>
85
+ <h1>The missing half of the action:<br>putting force back into pose-only demonstrations</h1>
86
+ <p class="sub">React's actions are computed from OptiTrack sensor poses — like all
87
+ UMI-style data, the demonstrated pose <i>is</i> the achieved pose. A stiffness
88
+ controller exerts <span class="mono">F&nbsp;=&nbsp;k·(target&nbsp;−&nbsp;actual)</span>,
89
+ so replaying these actions reproduces the motion but presses with <b>zero
90
+ intended force</b>. This page shows how each action is transformed, on real
91
+ episode data, and what the transformation is worth.</p>
92
+ <span class="pill">36 episodes · 72 sensor-sides</span>
93
+ <span class="pill">no F/T sensor involved</span>
94
+ <span class="pill"><a href="index.html" style="color:inherit;text-decoration:none">↖ full methods &amp; validation</a></span>
95
+ </header>
96
+
97
+ <h2>How an action is processed</h2>
98
+ <div class="card">
99
+ <div class="flow">
100
+ <div class="fstep">pose p<sub>t</sub><small>OptiTrack, 30 Hz</small></div>
101
+ <div class="farr">+</div>
102
+ <div class="fstep">GelSight frame<small>640×480 RGB</small></div>
103
+ <div class="farr">→</div>
104
+ <div class="fstep">F̂<sub>n</sub><small>depth → Winkler,<br>FEATS-calibrated</small></div>
105
+ <div class="farr">→</div>
106
+ <div class="fstep">n̂ = R<sub>t</sub>·a<sub>gel</sub><small>dual-ball calibrated axis</small></div>
107
+ <div class="farr">→</div>
108
+ <div class="fstep" style="border-color:var(--target)">action target<small>virtual, past the surface</small></div>
109
+ </div>
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+ <div class="formula">p<sub><b>target</b></sub> = p<sub>observed</sub> + ( F̂<sub>n</sub> / k ) · n̂
111
+ &nbsp;&nbsp;&nbsp;k = 1500 N/m</div>
112
+ <p>The action stays a pose. In free space F̂<sub>n</sub>&nbsp;=&nbsp;0 and the target
113
+ <i>is</i> the observed pose — nothing changes. In contact, the target moves past
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+ the surface along the gel normal by exactly the displacement an impedance
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+ controller at stiffness k needs to exert the demonstrated force. No new action
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+ dimension, no force interface at deployment — a DexForce-style transform
117
+ (arXiv:2501.10356) driven by tactile-estimated rather than measured force.</p>
118
+ </div>
119
+
120
+ <h2>Live on real data — drag across the trace</h2>
121
+ <div class="card">
122
+ <p style="margin-top:0">90 s of <span class="mono">motherboard/2026-05-10/episode_000</span>
123
+ (left sensor), centred on the strongest press. Top: estimated normal force.
124
+ Bottom: the transform's entire effect on the action — the target's offset from
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+ the observed pose along the gel normal. The cyan zero-line <i>is</i> the
126
+ original action; the sensor itself sweeps ±170 mm through this window, which
127
+ is why the offset is drawn on its own millimetre scale.</p>
128
+ <div id="chartbox"></div>
129
+ <div class="legend"><span class="l-force">F̂ normal [N]</span>
130
+ <span class="l-pose">observed pose = zero offset (action before)</span>
131
+ <span class="l-tgt">target offset F̂/k along n̂ (action after)</span></div>
132
+ <div id="readout">
133
+ <div class="r"><div class="k">t</div><div class="v" id="ro-t">–</div></div>
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+ <div class="r"><div class="k">F̂ normal</div><div class="v" id="ro-f" style="color:var(--force)">–</div></div>
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+ <div class="r"><div class="k">target offset F̂/k</div><div class="v" id="ro-p" style="color:var(--target)">–</div></div>
136
+ <div class="r"><div class="k">state</div><div class="v" id="ro-s">–</div></div>
137
+ </div>
138
+ <p class="hint">drag / hover to scrub · data is the actual per-row output, not a mock-up</p>
139
+ </div>
140
+
141
+ <h2>The effect, measured</h2>
142
+ <div class="stat-row">
143
+ <div class="stat"><div class="lbl">free-space invariance</div>
144
+ <div class="val ok">0.0e+00 m</div>
145
+ <div class="lbl" style="margin-top:6px">max |target − pose| when F̂=0, all 72 sides</div></div>
146
+ <div class="stat"><div class="lbl">round-trip error</div>
147
+ <div class="val ok">9e-14 N</div>
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+ <div class="lbl" style="margin-top:6px">k·‖target−pose‖ vs F̂ — machine precision</div></div>
149
+ <div class="stat"><div class="lbl">penetration in contact</div>
150
+ <div class="val">1.0 mm <span style="font-size:.9rem;color:var(--dim)">median</span></div>
151
+ <div class="lbl" style="margin-top:6px">max 15.2 mm at the hardest ~23 N press</div></div>
152
+ </div>
153
+ <div class="card">
154
+ <p style="margin-top:0"><b>Why this matters for training.</b> Policies trained on
155
+ raw poses learn "touch the surface and stop": the label says the fingertip halts
156
+ at the contact plane, so at deployment the controller exerts whatever residual
157
+ force tracking error happens to produce. With force-informed targets the label
158
+ itself encodes <i>how hard</i> — DexForce measured near-zero task success without
159
+ this correction and 76% with it, on kinesthetic demonstrations with measured
160
+ forces; here the same transform runs from tactile-estimated force, with the
161
+ estimator validated against FEA ground truth (ρ=0.70 pooled, 0.85 on unseen
162
+ indenter shapes — see the <a href="index.html">main page</a>).</p>
163
+ <img src="assets/dexforce_motherboard_episode_000_left.png" alt="virtual target offsets">
164
+ <video controls muted loop playsinline preload="metadata" src="assets/clip_motherboard_episode_000_left.mp4"></video>
165
+ <p class="hint">the force signal driving the action transform, live under the tactile stream</p>
166
+ </div>
167
+
168
+ <h2>Using it</h2>
169
+ <div class="card">
170
+ <pre><code># per-episode force estimates ship as npz next to the release
171
+ import numpy as np
172
+ from force_recovery.dexforce import force_informed_targets, gel_axis
173
+ from force_recovery.evaluate import median3_fresh
174
+
175
+ z = np.load("force_recovery/motherboard/2026-05-10/episode_000_left.npz")
176
+ force = median3_fresh(z["force_normal_n"], is_new) # de-spike on fresh frames
177
+ act = force_informed_targets(pose, force, gel_axis("motherboard", "left"))
178
+ train_targets = act.target_pos # (T,3) — drop-in pose labels</code></pre>
179
+ <p>Caveats, stated plainly: absolute newtons carry the FEATS-calibration
180
+ uncertainty (cross-sensor scale drifts 2–4×; within-episode relative force is
181
+ the reliable part), shear-dominant contact is a blind spot of the normal-force
182
+ estimator, and legacy recordings update tactile at ~8.5 fps — the
183
+ <code>tactile_*_is_new</code> flags mark which rows carry fresh force evidence.</p>
184
+ </div>
185
+
186
+ <footer>React force recovery · data <a href="https://huggingface.co/datasets/yxma/React">yxma/React</a>
187
+ · methods &amp; external validation on the <a href="index.html">main page</a>
188
+ · transform: DexForce (2501.10356) · force: gsrobotics photometric stereo + Winkler, FEATS-calibrated (2411.03315)</footer>
189
+ </div>
190
+
191
+ <script>
192
+ fetch('assets/action_trace.json').then(r=>r.json()).then(D=>{
193
+ const W=940,H1=170,H2=250,GAP=34,PAD_L=56,PAD_R=16,H=H1+H2+GAP+40;
194
+ const N=D.force_n.length,fps=D.meta.fps;
195
+ const box=document.getElementById('chartbox');
196
+ const svgNS='http://www.w3.org/2000/svg';
197
+ const svg=document.createElementNS(svgNS,'svg');
198
+ svg.setAttribute('viewBox',`0 0 ${W} ${H}`);svg.style.width='100%';
199
+ box.appendChild(svg);
200
+ const X=i=>PAD_L+(W-PAD_L-PAD_R)*i/(N-1);
201
+ const fmax=Math.max(...D.force_n)*1.08;
202
+ const Yf=v=>H1-(H1-8)*v/fmax;
203
+ // bottom panel: the OFFSET itself. The trajectory sweeps +-170mm here while
204
+ // the offset stays <=5mm — plotting raw positions hides the transform.
205
+ const smin=0,smax=Math.max(...D.pen_mm)*1.12;
206
+ const Y2=v=>H1+GAP+H2-(H2-8)*(v-smin)/(smax-smin);
207
+ function poly(ys,color,w,dash){const p=document.createElementNS(svgNS,'path');
208
+ let d='M';for(let i=0;i<N;i++){d+=X(i).toFixed(1)+' '+ys(i).toFixed(1)+(i<N-1?' L':'');}
209
+ p.setAttribute('d',d);p.setAttribute('fill','none');p.setAttribute('stroke',color);
210
+ p.setAttribute('stroke-width',w);if(dash)p.setAttribute('stroke-dasharray',dash);
211
+ svg.appendChild(p);return p;}
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+ // axes
213
+ [[0,'0'],[fmax/1.08,fmax.toFixed(0)]].forEach(([v,t])=>{
214
+ const l=document.createElementNS(svgNS,'text');l.textContent=t+' N';
215
+ l.setAttribute('x',PAD_L-8);l.setAttribute('y',Yf(v)+4);l.setAttribute('text-anchor','end');
216
+ l.setAttribute('fill','#7c8db0');l.setAttribute('font-size','11');
217
+ l.setAttribute('font-family','IBM Plex Mono');svg.appendChild(l);});
218
+ [[0,'0 mm'],[smax/1.12,(smax/1.12).toFixed(1)+' mm']].forEach(([v,t])=>{
219
+ const l=document.createElementNS(svgNS,'text');l.textContent=t;
220
+ l.setAttribute('x',PAD_L-8);l.setAttribute('y',Y2(v)+4);l.setAttribute('text-anchor','end');
221
+ l.setAttribute('fill','#7c8db0');l.setAttribute('font-size','11');
222
+ l.setAttribute('font-family','IBM Plex Mono');svg.appendChild(l);});
223
+ // commanded-penetration band between the zero-line (observed) and the target
224
+ const band=document.createElementNS(svgNS,'path');
225
+ 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':'');
226
+ d+=' L'+X(N-1).toFixed(1)+' '+Y2(0)+' L'+X(0).toFixed(1)+' '+Y2(0);
227
+ band.setAttribute('d',d+' Z');band.setAttribute('fill','rgba(255,120,71,.28)');svg.appendChild(band);
228
+ poly(i=>Yf(D.force_n[i]),'#ffb347',1.4);
229
+ poly(i=>Y2(0),'#4fd8e0',1.3);
230
+ poly(i=>Y2(D.pen_mm[i]),'#ff7847',1.3);
231
+ // cursor
232
+ const cur=document.createElementNS(svgNS,'line');
233
+ cur.setAttribute('y1',0);cur.setAttribute('y2',H1+GAP+H2);
234
+ cur.setAttribute('stroke','#dce7f5');cur.setAttribute('stroke-width','1');
235
+ cur.setAttribute('stroke-dasharray','3 3');svg.appendChild(cur);
236
+ const dotF=document.createElementNS(svgNS,'circle');dotF.setAttribute('r',4);
237
+ dotF.setAttribute('fill','#ffb347');svg.appendChild(dotF);
238
+ const dotT=document.createElementNS(svgNS,'circle');dotT.setAttribute('r',4);
239
+ dotT.setAttribute('fill','#ff7847');svg.appendChild(dotT);
240
+ function setI(i){i=Math.max(0,Math.min(N-1,i));
241
+ const x=X(i);cur.setAttribute('x1',x);cur.setAttribute('x2',x);
242
+ dotF.setAttribute('cx',x);dotF.setAttribute('cy',Yf(D.force_n[i]));
243
+ dotT.setAttribute('cx',x);dotT.setAttribute('cy',Y2(D.pen_mm[i]));
244
+ document.getElementById('ro-t').textContent=(i/fps).toFixed(2)+' s';
245
+ document.getElementById('ro-f').textContent=D.force_n[i].toFixed(2)+' N';
246
+ document.getElementById('ro-p').textContent=(D.pen_mm[i]).toFixed(2)+' mm';
247
+ const s=document.getElementById('ro-s');
248
+ if(D.force_n[i]>0.1){s.textContent='CONTACT';s.style.color='var(--target)';}
249
+ else{s.textContent='free — target ≡ pose';s.style.color='var(--ok)';}}
250
+ function fromEvent(e){const r=svg.getBoundingClientRect();
251
+ const px=((e.touches?e.touches[0].clientX:e.clientX)-r.left)/r.width*W;
252
+ setI(Math.round((px-PAD_L)/(W-PAD_L-PAD_R)*(N-1)));}
253
+ ['mousemove','mousedown','touchmove','touchstart'].forEach(ev=>
254
+ box.addEventListener(ev,e=>{fromEvent(e);if(ev!=='mousemove')e.preventDefault();},{passive:false}));
255
+ setI(Math.round(N*0.5));
256
+ });
257
+ </script>
258
+ </body></html>
assets/action_trace.json ADDED
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index.html CHANGED
@@ -55,7 +55,8 @@ the actions alone. Two methods, implemented and evaluated on the released data,
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  put it back.</p>
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  <div class="pills"><span class="pill">GelSight Mini (markerless gel)</span>
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  <span class="pill">no F/T sensor</span><span class="pill">no force ground truth</span>
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- <span class="pill">dataset: yxma/React</span></div>
 
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  </div></header>
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  <div class="wrap">
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  put it back.</p>
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  <div class="pills"><span class="pill">GelSight Mini (markerless gel)</span>
57
  <span class="pill">no F/T sensor</span><span class="pill">no force ground truth</span>
58
+ <span class="pill">dataset: yxma/React</span>
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+ <a class="pill" href="actions.html" style="text-decoration:none;color:#ffd9a0;border:1px solid rgba(255,255,255,.3)">→ action processing deep-dive</a></div>
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  </div></header>
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  <div class="wrap">
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