https://miracle-techlink.github.io/vivid-aurora-space/tags/robot-learning/Robot LearningHugo Blox Builder (https://hugoblox.com)en-usWed, 01 Oct 2025 00:00:00 +0000https://miracle-techlink.github.io/vivid-aurora-space/media/icon_hu_982c5d63a71b2961.pnghttps://miracle-techlink.github.io/vivid-aurora-space/tags/robot-learning/https://miracle-techlink.github.io/vivid-aurora-space/projects/lerobot-embodied/Wed, 01 Oct 2025 00:00:00 +0000https://miracle-techlink.github.io/vivid-aurora-space/projects/lerobot-embodied/ <video controls > <source src="https://miracle-techlink.github.io/vivid-aurora-space/projects/lerobot-embodied/demo.mp4" type="video/mp4"> </video> <hr> <h2 id="lerobot--study--deployment">LeRobot — Study &amp; Deployment</h2> <p>Deep dive into <strong>Hugging Face LeRobot</strong> — the leading open-source embodied intelligence framework — covering architecture analysis, training pipeline reproduction, and real-robot deployment.</p> <p><strong>Study scope:</strong></p> <ul> <li>ACT (Action Chunking with Transformers) policy architecture</li> <li>Diffusion Policy training and inference pipeline</li> <li>TDMPC world-model-based control</li> <li>Real-robot deployment on SO-100 / Koch v1.1 hardware</li> </ul> <blockquote class="border-l-4 border-neutral-300 dark:border-neutral-600 pl-4 italic text-neutral-600 dark:text-neutral-400 my-6"> <p>📖 Co-authored comprehensive Chinese-language documentation. <strong>Officially featured by Hugging Face.</strong></p> </blockquote> <a href="https://zihao-ai.feishu.cn/wiki/TS6swApHbinx01kHDi5cf5n5n8c" target="_blank" rel="noopener" class="group flex items-center gap-4 no-underline rounded-xl border border-zinc-200 dark:border-zinc-700 bg-white dark:bg-zinc-900 px-4 py-3 my-3 shadow-sm hover:shadow-md hover:border-zinc-300 dark:hover:border-zinc-500 transition-all duration-200"> <span class="flex-shrink-0 flex items-center justify-center w-9 h-9 rounded-lg text-white" style="background:#1456f0"> <svg viewBox="0 0 24 24" fill="currentColor" class="w-5 h-5"><path d="M12 2C6.477 2 2 6.477 2 12s4.477 10 10 10 10-4.477 10-10S17.523 2 12 2zm0 2c4.418 0 8 3.582 8 8s-3.582 8-8 8-8-3.582-8-8 3.582-8 8-8zm-1 3v6l5-3-5-3z"/></svg> </span> <span class="flex flex-col min-w-0"> <span class="text-sm font-semibold text-zinc-900 dark:text-zinc-100 truncate">LeRobot 中文社区文档</span> <span class="text-xs text-zinc-500 dark:text-zinc-400 truncate">架构解析 · 训练流程 · 真机部署 · HuggingFace 官方收录</span> </span> <span class="ml-auto flex-shrink-0 text-xs font-medium px-2 py-0.5 rounded-full text-white" style="background:#1456f0"> Feishu Docs </span> <svg class="flex-shrink-0 w-4 h-4 text-zinc-400 group-hover:text-zinc-600 dark:group-hover:text-zinc-300 transition-colors" fill="none" stroke="currentColor" stroke-width="2" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" d="M9 5l7 7-7 7"/></svg> </a> <p><strong>Connection to research:</strong> LeRobot&rsquo;s flow-matching policy backbone directly informed the GDN-Memory integration work — understanding the inference pipeline was prerequisite to designing sub-1ms memory update scheduling.</p> <hr> <h2 id="trime--home-care-robot-platform">tri.me — Home-Care Robot Platform</h2> <p><strong>🏆 3rd Place — 小红书巅峰赛 Hackathon</strong></p> <a href="http://xhslink.com/o/4WJlspLKrXM" target="_blank" rel="noopener" class="group flex items-center gap-4 no-underline rounded-xl border border-zinc-200 dark:border-zinc-700 bg-white dark:bg-zinc-900 px-4 py-3 my-3 shadow-sm hover:shadow-md hover:border-zinc-300 dark:hover:border-zinc-500 transition-all duration-200"> <span class="flex-shrink-0 flex items-center justify-center w-9 h-9 rounded-lg text-white" style="background:#ff2442"> <svg viewBox="0 0 24 24" fill="currentColor" class="w-5 h-5"><path d="M12 2C6.48 2 2 6.48 2 12s4.48 10 10 10 10-4.48 10-10S17.52 2 12 2zm-1 14H9V8h2v8zm4 0h-2V8h2v8z"/></svg> </span> <span class="flex flex-col min-w-0"> <span class="text-sm font-semibold text-zinc-900 dark:text-zinc-100 truncate">tri.me 家庭护理机器人 Demo</span> <span class="text-xs text-zinc-500 dark:text-zinc-400 truncate">Tri.me吹了吗家庭护理机器人 · 小红书巅峰赛三等奖</span> </span> <span class="ml-auto flex-shrink-0 text-xs font-medium px-2 py-0.5 rounded-full text-white" style="background:#ff2442"> 小红书 </span> <svg class="flex-shrink-0 w-4 h-4 text-zinc-400 group-hover:text-zinc-600 dark:group-hover:text-zinc-300 transition-colors" fill="none" stroke="currentColor" stroke-width="2" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" d="M9 5l7 7-7 7"/></svg> </a> <a href="https://github.com/persuer0/treame" target="_blank" rel="noopener" class="group flex items-center gap-4 no-underline rounded-xl border border-zinc-200 dark:border-zinc-700 bg-white dark:bg-zinc-900 px-4 py-3 my-3 shadow-sm hover:shadow-md hover:border-zinc-300 dark:hover:border-zinc-500 transition-all duration-200"> <span class="flex-shrink-0 flex items-center justify-center w-9 h-9 rounded-lg text-white" style="background:#24292e"> <svg viewBox="0 0 24 24" fill="currentColor" class="w-5 h-5"><path d="M12 .297c-6.63 0-12 5.373-12 12 0 5.303 3.438 9.8 8.205 11.385.6.113.82-.258.82-.577 0-.285-.01-1.04-.015-2.04-3.338.724-4.042-1.61-4.042-1.61C4.422 18.07 3.633 17.7 3.633 17.7c-1.087-.744.084-.729.084-.729 1.205.084 1.838 1.236 1.838 1.236 1.07 1.835 2.809 1.305 3.495.998.108-.776.417-1.305.76-1.605-2.665-.3-5.466-1.332-5.466-5.93 0-1.31.465-2.38 1.235-3.22-.135-.303-.54-1.523.105-3.176 0 0 1.005-.322 3.3 1.23.96-.267 1.98-.399 3-.405 1.02.006 2.04.138 3 .405 2.28-1.552 3.285-1.23 3.285-1.23.645 1.653.24 2.873.12 3.176.765.84 1.23 1.91 1.23 3.22 0 4.61-2.805 5.625-5.475 5.92.42.36.81 1.096.81 2.22 0 1.606-.015 2.896-.015 3.286 0 .315.21.69.825.57C20.565 22.092 24 17.592 24 12.297c0-6.627-5.373-12-12-12"/></svg> </span> <span class="flex flex-col min-w-0"> <span class="text-sm font-semibold text-zinc-900 dark:text-zinc-100 truncate">persuer0/treame</span> <span class="text-xs text-zinc-500 dark:text-zinc-400 truncate">松灵 Nero 七自由度机械臂 · 刷牙 / 吹头发 / 剃胡子</span> </span> <span class="ml-auto flex-shrink-0 text-xs font-medium px-2 py-0.5 rounded-full text-white" style="background:#24292e"> GitHub </span> <svg class="flex-shrink-0 w-4 h-4 text-zinc-400 group-hover:text-zinc-600 dark:group-hover:text-zinc-300 transition-colors" fill="none" stroke="currentColor" stroke-width="2" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" d="M9 5l7 7-7 7"/></svg> </a> <figure><img src="https://miracle-techlink.github.io/vivid-aurora-space/projects/lerobot-embodied/trime_scenes.png" alt="三类护理场景：刷牙 × 吹头发 × 剃胡子"><figcaption> <p>三类护理场景：刷牙 × 吹头发 × 剃胡子</p> </figcaption> </figure> <table> <thead> <tr> <th>场景</th> <th>技术要点</th> </tr> </thead> <tbody> <tr> <td>🦷 刷牙</td> <td>牙刷轨迹规划 × 力控清洁</td> </tr> <tr> <td>💨 吹头发</td> <td>头部跟随 × 角度自适应</td> </tr> <tr> <td>🪒 剃胡子</td> <td>面部轮廓贴合 × 微米级精度</td> </tr> </tbody> </table> <figure><img src="https://miracle-techlink.github.io/vivid-aurora-space/projects/lerobot-embodied/trime_arch.png" alt="三层解耦系统架构：感知层 / 控制层 / 执行层"><figcaption> <p>三层解耦系统架构：感知层 / 控制层 / 执行层</p> </figcaption> </figure> <p><strong>三层解耦架构：</strong></p> <ul> <li><strong>感知层</strong> — 人体骨骼/人脸关键点实时检测，摄像头硬件加速编解码</li> <li><strong>控制层</strong> — 机械臂 SDK，支持关节空间、笛卡尔、直线、圆弧多种运动模式，内置 SE3 坐标变换</li> <li><strong>执行层</strong> — SocketCAN 协议驱动松灵 Nero，实现真正&quot;以人为中心&quot;的护理闭环</li> </ul>https://miracle-techlink.github.io/vivid-aurora-space/zh/projects/lerobot-embodied/Wed, 01 Oct 2025 00:00:00 +0000https://miracle-techlink.github.io/vivid-aurora-space/zh/projects/lerobot-embodied/<a href="https://zihao-ai.feishu.cn/wiki/TS6swApHbinx01kHDi5cf5n5n8c" target="_blank" rel="noopener" class="group flex items-center gap-4 no-underline rounded-xl border border-zinc-200 dark:border-zinc-700 bg-white dark:bg-zinc-900 px-4 py-3 my-3 shadow-sm hover:shadow-md hover:border-zinc-300 dark:hover:border-zinc-500 transition-all duration-200"> <span class="flex-shrink-0 flex items-center justify-center w-9 h-9 rounded-lg text-white" style="background:#1456f0"> <svg viewBox="0 0 24 24" fill="currentColor" class="w-5 h-5"><path d="M12 2C6.477 2 2 6.477 2 12s4.477 10 10 10 10-4.477 10-10S17.523 2 12 2zm0 2c4.418 0 8 3.582 8 8s-3.582 8-8 8-8-3.582-8-8 3.582-8 8-8zm-1 3v6l5-3-5-3z"/></svg> </span> <span class="flex flex-col min-w-0"> <span class="text-sm font-semibold text-zinc-900 dark:text-zinc-100 truncate">LeRobot 中文社区文档</span> <span class="text-xs text-zinc-500 dark:text-zinc-400 truncate">架构解析 · 训练流程 · 真机部署 · HuggingFace 官方收录</span> </span> <span class="ml-auto flex-shrink-0 text-xs font-medium px-2 py-0.5 rounded-full text-white" style="background:#1456f0"> Feishu Docs </span> <svg class="flex-shrink-0 w-4 h-4 text-zinc-400 group-hover:text-zinc-600 dark:group-hover:text-zinc-300 transition-colors" fill="none" stroke="currentColor" stroke-width="2" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" d="M9 5l7 7-7 7"/></svg> </a> <hr> <h2 id="lerobot--学习与部署">LeRobot — 学习与部署</h2> <p>深入研究 <strong>Hugging Face LeRobot</strong> — 当前领先的开源具身智能框架 — 涵盖架构解析、训练流程复现与真机部署。</p> <p><strong>学习范围：</strong></p> <ul> <li>ACT（Action Chunking with Transformers）策略架构</li> <li>Diffusion Policy 训练与推理流水线</li> <li>TDMPC 基于世界模型的控制</li> <li>SO-100 / Koch v1.1 硬件真机部署</li> </ul> <blockquote class="border-l-4 border-neutral-300 dark:border-neutral-600 pl-4 italic text-neutral-600 dark:text-neutral-400 my-6"> <p>📖 联合撰写系统性中文社区文档，<strong>已被 Hugging Face 官方收录</strong>。</p> </blockquote> <a href="https://zihao-ai.feishu.cn/wiki/TS6swApHbinx01kHDi5cf5n5n8c" target="_blank" rel="noopener" class="group flex items-center gap-4 no-underline rounded-xl border border-zinc-200 dark:border-zinc-700 bg-white dark:bg-zinc-900 px-4 py-3 my-3 shadow-sm hover:shadow-md hover:border-zinc-300 dark:hover:border-zinc-500 transition-all duration-200"> <span class="flex-shrink-0 flex items-center justify-center w-9 h-9 rounded-lg text-white" style="background:#1456f0"> <svg viewBox="0 0 24 24" fill="currentColor" class="w-5 h-5"><path d="M12 2C6.477 2 2 6.477 2 12s4.477 10 10 10 10-4.477 10-10S17.523 2 12 2zm0 2c4.418 0 8 3.582 8 8s-3.582 8-8 8-8-3.582-8-8 3.582-8 8-8zm-1 3v6l5-3-5-3z"/></svg> </span> <span class="flex flex-col min-w-0"> <span class="text-sm font-semibold text-zinc-900 dark:text-zinc-100 truncate">LeRobot 中文社区文档</span> <span class="text-xs text-zinc-500 dark:text-zinc-400 truncate">架构解析 · 训练流程 · 真机部署 · HuggingFace 官方收录</span> </span> <span class="ml-auto flex-shrink-0 text-xs font-medium px-2 py-0.5 rounded-full text-white" style="background:#1456f0"> Feishu Docs </span> <svg class="flex-shrink-0 w-4 h-4 text-zinc-400 group-hover:text-zinc-600 dark:group-hover:text-zinc-300 transition-colors" fill="none" stroke="currentColor" stroke-width="2" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" d="M9 5l7 7-7 7"/></svg> </a> <p><strong>与研究的关联：</strong> LeRobot 的流匹配策略主干直接启发了 GDN-Memory 集成方案 — 理解推理流水线是设计亚毫秒级记忆更新调度的前提。</p> <hr> <h2 id="trime--home-care-robot-platform">tri.me — Home-Care Robot Platform</h2> <p><strong>🏆 3rd Place — 小红书巅峰赛 Hackathon</strong></p> <a href="http://xhslink.com/o/4WJlspLKrXM" target="_blank" rel="noopener" class="group flex items-center gap-4 no-underline rounded-xl border border-zinc-200 dark:border-zinc-700 bg-white dark:bg-zinc-900 px-4 py-3 my-3 shadow-sm hover:shadow-md hover:border-zinc-300 dark:hover:border-zinc-500 transition-all duration-200"> <span class="flex-shrink-0 flex items-center justify-center w-9 h-9 rounded-lg text-white" style="background:#ff2442"> <svg viewBox="0 0 24 24" fill="currentColor" class="w-5 h-5"><path d="M12 2C6.48 2 2 6.48 2 12s4.48 10 10 10 10-4.48 10-10S17.52 2 12 2zm-1 14H9V8h2v8zm4 0h-2V8h2v8z"/></svg> </span> <span class="flex flex-col min-w-0"> <span class="text-sm font-semibold text-zinc-900 dark:text-zinc-100 truncate">tri.me 家庭护理机器人 Demo</span> <span class="text-xs text-zinc-500 dark:text-zinc-400 truncate">Tri.me吹了吗家庭护理机器人 · 小红书巅峰赛三等奖</span> </span> <span class="ml-auto flex-shrink-0 text-xs font-medium px-2 py-0.5 rounded-full text-white" style="background:#ff2442"> 小红书 </span> <svg class="flex-shrink-0 w-4 h-4 text-zinc-400 group-hover:text-zinc-600 dark:group-hover:text-zinc-300 transition-colors" fill="none" stroke="currentColor" stroke-width="2" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" d="M9 5l7 7-7 7"/></svg> </a> <a href="https://github.com/persuer0/treame" target="_blank" rel="noopener" class="group flex items-center gap-4 no-underline rounded-xl border border-zinc-200 dark:border-zinc-700 bg-white dark:bg-zinc-900 px-4 py-3 my-3 shadow-sm hover:shadow-md hover:border-zinc-300 dark:hover:border-zinc-500 transition-all duration-200"> <span class="flex-shrink-0 flex items-center justify-center w-9 h-9 rounded-lg text-white" style="background:#24292e"> <svg viewBox="0 0 24 24" fill="currentColor" class="w-5 h-5"><path d="M12 .297c-6.63 0-12 5.373-12 12 0 5.303 3.438 9.8 8.205 11.385.6.113.82-.258.82-.577 0-.285-.01-1.04-.015-2.04-3.338.724-4.042-1.61-4.042-1.61C4.422 18.07 3.633 17.7 3.633 17.7c-1.087-.744.084-.729.084-.729 1.205.084 1.838 1.236 1.838 1.236 1.07 1.835 2.809 1.305 3.495.998.108-.776.417-1.305.76-1.605-2.665-.3-5.466-1.332-5.466-5.93 0-1.31.465-2.38 1.235-3.22-.135-.303-.54-1.523.105-3.176 0 0 1.005-.322 3.3 1.23.96-.267 1.98-.399 3-.405 1.02.006 2.04.138 3 .405 2.28-1.552 3.285-1.23 3.285-1.23.645 1.653.24 2.873.12 3.176.765.84 1.23 1.91 1.23 3.22 0 4.61-2.805 5.625-5.475 5.92.42.36.81 1.096.81 2.22 0 1.606-.015 2.896-.015 3.286 0 .315.21.69.825.57C20.565 22.092 24 17.592 24 12.297c0-6.627-5.373-12-12-12"/></svg> </span> <span class="flex flex-col min-w-0"> <span class="text-sm font-semibold text-zinc-900 dark:text-zinc-100 truncate">persuer0/treame</span> <span class="text-xs text-zinc-500 dark:text-zinc-400 truncate">松灵 Nero 七自由度机械臂 · 刷牙 / 吹头发 / 剃胡子</span> </span> <span class="ml-auto flex-shrink-0 text-xs font-medium px-2 py-0.5 rounded-full text-white" style="background:#24292e"> GitHub </span> <svg class="flex-shrink-0 w-4 h-4 text-zinc-400 group-hover:text-zinc-600 dark:group-hover:text-zinc-300 transition-colors" fill="none" stroke="currentColor" stroke-width="2" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" d="M9 5l7 7-7 7"/></svg> </a> <figure><img src="trime_scenes.png" alt="三类护理场景：刷牙 × 吹头发 × 剃胡子"><figcaption> <p>三类护理场景：刷牙 × 吹头发 × 剃胡子</p> </figcaption> </figure> <table> <thead> <tr> <th>场景</th> <th>技术要点</th> </tr> </thead> <tbody> <tr> <td>🦷 刷牙</td> <td>牙刷轨迹规划 × 力控清洁</td> </tr> <tr> <td>💨 吹头发</td> <td>头部跟随 × 角度自适应</td> </tr> <tr> <td>🪒 剃胡子</td> <td>面部轮廓贴合 × 微米级精度</td> </tr> </tbody> </table> <figure><img src="trime_arch.png" alt="三层解耦系统架构：感知层 / 控制层 / 执行层"><figcaption> <p>三层解耦系统架构：感知层 / 控制层 / 执行层</p> </figcaption> </figure> <p><strong>三层解耦架构：</strong></p> <ul> <li><strong>感知层</strong> — 人体骨骼/人脸关键点实时检测，摄像头硬件加速编解码</li> <li><strong>控制层</strong> — 机械臂 SDK，支持关节空间、笛卡尔、直线、圆弧多种运动模式，内置 SE3 坐标变换</li> <li><strong>执行层</strong> — SocketCAN 协议驱动松灵 Nero，实现真正&quot;以人为中心&quot;的护理闭环</li> </ul>