Nlquan

.dockerignore

@@ -0,0 +1,14 @@
+.git
+.github
+build
+dist
+*.egg-info
+__pycache__
+*.pyc
+*.pyo
+*.pyd
+.venv*
+venv*
+.cache
+.system_generated
+*.log

.github/rulesets/main-protection-ruleset.json

@@ -0,0 +1,49 @@
+{
+  "name": "Protect main branch - Only Owner can merge",
+  "target": "branch",
+  "enforcement": "active",
+  "conditions": {
+    "ref_name": {
+      "include": [
+        "~DEFAULT_BRANCH"
+      ],
+      "exclude": []
+    }
+  },
+  "rules": [
+    {
+      "type": "deletion"
+    },
+    {
+      "type": "non_fast_forward"
+    },
+    {
+      "type": "pull_request",
+      "parameters": {
+        "required_approving_review_count": 0,
+        "dismiss_stale_reviews_on_push": false,
+        "require_code_owner_review": false,
+        "require_last_push_approval": false,
+        "required_review_thread_resolution": false,
+        "require_extra_approval_for_unattributed_changes": false,
+        "allowed_merge_methods": [
+          "merge",
+          "squash",
+          "rebase"
+        ]
+      }
+    }
+  ],
+  "bypass_actors": [
+    {
+      "actor_id": 5,
+      "actor_type": "RepositoryRole",
+      "bypass_mode": "always"
+    },
+    {
+      "actor_id": 131538387,
+      "actor_type": "User",
+      "bypass_mode": "always"
+    }
+  ]
+}

.gitignore

@@ -31,3 +31,14 @@
 /packages/yum/tmp/
 /python/dist/
 /python/vendor/
+__pycache__/
+*.pyc
+SETUP_WSL_GUIDE.md
+*.local.md
+test_wrist_pitch.py
+stop_robot.py
+.venv*/
+dataset/
+*.pth
+*.hdf5
+

ACT_ARCHITECTURE.html

@@ -0,0 +1,239 @@
+<!DOCTYPE html>
+<html lang="vi">
+<head>
+  <meta charset="UTF-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1.0">
+  <title>Mô Hình ACT Gọn (RGB-D + 16-DOF Bimanual)</title>
+  <script src="https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js"></script>
+  <style>
+    :root {
+      --bg: #070b14;
+      --card: #0d1527;
+      --border: #1e293b;
+      --text: #f8fafc;
+      --muted: #94a3b8;
+      --fire: #f97316;
+      --ice: #38bdf8;
+      --purple: #c084fc;
+      --green: #34d399;
+    }
+
+    * { box-sizing: border-box; }
+
+    body {
+      font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, sans-serif;
+      background: radial-gradient(circle at 50% 10%, #111a36 0%, var(--bg) 75%);
+      color: var(--text);
+      margin: 0;
+      padding: 12px 16px;
+      height: 100vh;
+      display: flex;
+      flex-direction: column;
+      justify-content: space-between;
+      overflow: hidden;
+    }
+
+    /* HEADER */
+    .header {
+      display: flex;
+      align-items: center;
+      justify-content: space-between;
+      border-bottom: 1px solid var(--border);
+      padding-bottom: 8px;
+      margin-bottom: 8px;
+    }
+    .header-left h1 {
+      font-size: 17px;
+      margin: 0;
+      font-weight: 800;
+      background: linear-gradient(90deg, #38bdf8, #f97316);
+      -webkit-background-clip: text;
+      -webkit-text-fill-color: transparent;
+      letter-spacing: -0.3px;
+    }
+    .header-left p {
+      margin: 2px 0 0 0;
+      font-size: 11px;
+      color: var(--muted);
+    }
+    .badge-group {
+      display: flex;
+      gap: 6px;
+    }
+    .badge {
+      font-size: 10px;
+      padding: 3px 8px;
+      border-radius: 9999px;
+      font-weight: 600;
+      border: 1px solid;
+    }
+    .badge.ice { border-color: rgba(56, 189, 248, 0.4); color: var(--ice); background: rgba(56, 189, 248, 0.1); }
+    .badge.fire { border-color: rgba(249, 115, 22, 0.4); color: var(--fire); background: rgba(249, 115, 22, 0.1); }
+    .badge.green { border-color: rgba(52, 211, 153, 0.4); color: var(--green); background: rgba(52, 211, 153, 0.1); }
+
+    /* MERMAID WRAPPER */
+    .mermaid-box {
+      flex: 1;
+      display: flex;
+      align-items: center;
+      justify-content: center;
+      background: rgba(13, 21, 39, 0.7);
+      border: 1px solid var(--border);
+      border-radius: 12px;
+      padding: 6px 12px;
+      box-shadow: 0 15px 35px -10px rgba(0,0,0,0.8);
+      position: relative;
+    }
+    .mermaid {
+      width: 100%;
+      display: flex;
+      justify-content: center;
+    }
+
+    /* FOOTER MICRO-CARDS */
+    .footer-grid {
+      display: grid;
+      grid-template-columns: repeat(4, 1fr);
+      gap: 8px;
+      margin-top: 8px;
+    }
+    .m-card {
+      background: var(--card);
+      border: 1px solid var(--border);
+      border-radius: 8px;
+      padding: 8px 10px;
+    }
+    .m-card h4 {
+      margin: 0 0 3px 0;
+      font-size: 11px;
+      display: flex;
+      align-items: center;
+      gap: 5px;
+    }
+    .m-card p {
+      margin: 0;
+      font-size: 10px;
+      color: var(--muted);
+      line-height: 1.4;
+    }
+    .m-card.c-in h4 { color: var(--text); }
+    .m-card.c-fire h4 { color: var(--fire); }
+    .m-card.c-ice h4 { color: var(--ice); }
+    .m-card.c-out h4 { color: var(--green); }
+  </style>
+</head>
+<body>
+
+  <!-- HEADER -->
+  <div class="header">
+    <div class="header-left">
+      <h1>KIẾN TRÚC MÔ HÌNH ACT — OPENARM 16-DOF</h1>
+      <p>01 Camera Ngực RGB-D + Hai Cánh Tay Robot (16 Motors) • Chunking k=50 @ 50Hz</p>
+    </div>
+    <div class="badge-group">
+      <span class="badge ice">❄️ Fixed / Frozen</span>
+      <span class="badge fire">🔥 Trainable</span>
+      <span class="badge green">🦾 16-DOF CAN-FD</span>
+    </div>
+  </div>
+
+  <!-- COMPACT MERMAID DIAGRAM -->
+  <div class="mermaid-box">
+    <div class="mermaid">
+%%{init: {'theme': 'dark', 'themeVariables': { 'fontSize': '11.5px', 'fontFamily': 'system-ui, sans-serif' }}}%%
+flowchart LR
+
+    %% 1. ĐẦU VÀO
+    subgraph S1 ["1. ĐẦU VÀO (Observation)"]
+        direction TB
+        RGBD["📷 <b>Camera Ngực RGB-D</b><br/>[4, 480, 640] ❄️"]
+        QPOS["🦾 <b>Khớp Hiện Tại (qpos)</b><br/>16 Khớp [16] ❄️"]
+    end
+
+    %% 2. THỊ GIÁC & CVAE
+    subgraph S2 ["2. THỊ GIÁC & CVAE"]
+        direction TB
+        CONV["🔥 <b>4-Ch Conv1</b> (RGB+D)"]
+        RES["❄️ <b>ResNet-18</b> (Layers 1..4)<br/><i>(Pretrained Frozen)</i>"]
+        VTOK["<b>300 Visual Tokens</b><br/>[300, 512]"]
+        QPROJ["🔥 <b>Joint Proj</b> (16 ➔ 512)"]
+        CVAE["🔥 <b>CVAE Block</b><br/>• Train: z ~ N(μ, σ²)<br/>• <b>Test: z = 0 ❄️</b>"]
+    end
+
+    %% 3. TRANSFORMER POLICY
+    subgraph S3 ["3. TRANSFORMER POLICY"]
+        direction TB
+        MEM["<b>302 Memory Tokens</b><br/>(300 Vis + 1 Qpos + 1 z)"]
+        QRY["🔥 <b>50 Action Queries</b><br/>[50, 512] + 1D PE ❄️"]
+        DEC["🔥 <b>Decoder (4 Layers)</b><br/>Cross/Self-Attention"]
+        HEAD["🔥 <b>Linear Head</b> (512 ➔ 16)"]
+    end
+
+    %% 4. ĐIỀU KHIỂN CAN BUS
+    subgraph S4 ["4. ĐẦU RA & CAN-FD"]
+        direction TB
+        CHUNK["🎯 <b>Action Chunk [50, 16]</b><br/>Quỹ đạo 50 bước tương lai"]
+        ENS["❄️ <b>Temporal Ensemble</b><br/>Bộ lọc làm mịn mũ"]
+        CAN["⚡ <b>SocketCAN (can0)</b><br/>16 Motor Damiao @ 50Hz"]
+    end
+
+    %% KẾT NỐI
+    RGBD --> CONV --> RES --> VTOK --> MEM
+    QPOS --> QPROJ --> MEM
+    QPOS -.-> CVAE --> MEM
+    MEM --> DEC
+    QRY --> DEC --> HEAD --> CHUNK
+    CHUNK --> ENS --> CAN
+
+    %% STYLING
+    classDef fire fill:#3d1308,stroke:#f97316,stroke-width:2px,color:#fed7aa;
+    classDef ice fill:#082f49,stroke:#38bdf8,stroke-width:2px,color:#e0f2fe;
+    classDef mem fill:#2e1065,stroke:#a855f7,stroke-width:1.5px,color:#f3e8ff;
+    classDef out fill:#064e3b,stroke:#34d399,stroke-width:2px,color:#d1fae5;
+    classDef inp fill:#0f172a,stroke:#64748b,stroke-width:1.5px,color:#f8fafc;
+
+    class RGBD,QPOS inp;
+    class CONV,QPROJ,CVAE,QRY,DEC,HEAD fire;
+    class RES,ENS,CAN ice;
+    class VTOK,MEM mem;
+    class CHUNK out;
+    </div>
+  </div>
+
+  <!-- FOOTER SUMMARY CARDS -->
+  <div class="footer-grid">
+    <div class="m-card c-in">
+      <h4>📷 1. Đầu Vào Tinh Gọn</h4>
+      <p>• <b>RGB-D (4 kênh)</b>: 3 màu + 1 chiều sâu Z.<br/>• <b>qpos (16)</b>: 8 khớp Trái + 8 khớp Phải.</p>
+    </div>
+
+    <div class="m-card c-fire">
+      <h4>🔥 2. Khối Trainable (Lửa)</h4>
+      <p>• <b>Conv1 Adapter</b> + <b>Joint Proj</b>.<br/>• <b>CVAE Encoder</b> + <b>Queries</b> + <b>Decoder 4 lớp</b>.</p>
+    </div>
+
+    <div class="m-card c-ice">
+      <h4>❄️ 3. Khối Fixed (Tuyết)</h4>
+      <p>• <b>ResNet-18 Frozen</b> (chống overfit).<br/>• <b>z = 0</b> lúc test + <b>PE sin/cos</b> + <b>Ensemble</b>.</p>
+    </div>
+
+    <div class="m-card c-out">
+      <h4>🎯 4. Đầu Ra 16 Khớp (50Hz)</h4>
+      <p>• <b>Chunk [50, 16]</b>: 1s chuyển động 2 tay.<br/>• Gửi 16 gói tin MIT Mode qua <b>SocketCAN</b>.</p>
+    </div>
+  </div>
+
+  <script>
+    mermaid.initialize({
+      startOnLoad: true,
+      theme: 'dark',
+      securityLevel: 'loose',
+      flowchart: {
+        useMaxWidth: false,
+        htmlLabels: true,
+        curve: 'basis'
+      }
+    });
+  </script>
+</body>
+</html>