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| <title>RoboTwin Action Viewer</title> |
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| </head> |
| <body> |
| <main class="app-shell"> |
| <header class="topbar"> |
| <div> |
| <p class="eyebrow">PARALLELVLA · ROBOTWIN ACTION VIEWER</p> |
| <h1>RoboTwin 动作与视频同步检查</h1> |
| </div> |
| <div class="selectors"> |
| <label> |
| 数据集 |
| <select id="dataset-select"></select> |
| </label> |
| <label> |
| Episode |
| <select id="episode-select"></select> |
| </label> |
| <button id="reset-view" type="button">重置 3D 视角</button> |
| </div> |
| </header> |
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| <section class="workspace" aria-label="RoboTwin 同步检查区"> |
| <article class="panel model-panel"> |
| <div class="panel-title"> |
| <span>3D · Aloha action trajectory</span> |
| <span class="router-status"><b id="phase-label" data-phase="none">NO GATE RECORD</b><span id="frame-label" class="mono">frame —</span></span> |
| </div> |
| <div id="scene" aria-label="可旋转缩放的 RoboTwin Aloha 双臂模型"></div> |
| <div class="arm-legend"> |
| <span id="default-arm-legend"><i class="left-arm"></i>左臂 · <i class="right-arm"></i>右臂</span> |
| <span id="async-gate-legend" hidden><i class="async-gate"></i>ASYNC 并行阶段</span> |
| <span id="sync-gate-legend" hidden><i class="sync-gate"></i>SYNC 同步阶段</span> |
| <span class="hint">拖动旋转 · 滚轮缩放 · 右键平移</span> |
| </div> |
| </article> |
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| <article class="panel video-panel"> |
| <div class="panel-title"> |
| <span>RoboTwin recorded video</span> |
| <span id="fps-label" class="sync-state">MASTER · — FPS</span> |
| </div> |
| <div class="video-grid"> |
| <figure class="camera-view head-camera"> |
| <figcaption>主视角 · MASTER</figcaption> |
| <video id="head-video" muted playsinline preload="metadata"></video> |
| </figure> |
| <figure class="camera-view"> |
| <figcaption>左腕视角</figcaption> |
| <video id="left-wrist-video" muted playsinline preload="metadata"></video> |
| </figure> |
| <figure class="camera-view"> |
| <figcaption>右腕视角</figcaption> |
| <video id="right-wrist-video" muted playsinline preload="metadata"></video> |
| </figure> |
| </div> |
| <div id="episode-attributes" class="attributes mono"></div> |
| </article> |
| </section> |
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| <section id="annotation-panel" class="annotation-panel panel" aria-label="Qwen 双臂子任务文本标注" hidden> |
| <div class="panel-title"> |
| <span id="annotation-title">QWEN · CURRENT DUAL-ARM SUBTASK</span> |
| <span id="annotation-current-frame" class="mono">frame —</span> |
| </div> |
| <div class="annotation-body"> |
| <div class="annotation-context"> |
| <div class="annotation-role-row"> |
| <span id="annotation-split" class="annotation-chip">—</span> |
| <span id="annotation-variant" class="annotation-chip">—</span> |
| <span id="object-arm-role" class="annotation-chip">OBJECT ARM · —</span> |
| <span id="drawer-arm-role" class="annotation-chip">DRAWER ARM · —</span> |
| </div> |
| <div class="annotation-current-grid"> |
| <article class="annotation-target-card"> |
| <p class="annotation-card-kicker">PI0.5 TRAIN TARGET · ORDERED DUAL ARM</p> |
| <p id="paired-subtask-text" class="annotation-target-text">—</p> |
| <p id="arm-activity-relation" class="activity-relation mono">—</p> |
| </article> |
| <article class="annotation-arm-card left-semantic-card"> |
| <p class="annotation-card-kicker">LEFT ARM</p> |
| <p id="left-arm-semantic-key" class="annotation-semantic-key">—</p> |
| <p id="left-source-index" class="annotation-source-index mono">source frame —</p> |
| <p id="left-arm-semantic">—</p> |
| </article> |
| <article class="annotation-arm-card right-semantic-card"> |
| <p class="annotation-card-kicker">RIGHT ARM</p> |
| <p id="right-arm-semantic-key" class="annotation-semantic-key">—</p> |
| <p id="right-source-index" class="annotation-source-index mono">source frame —</p> |
| <p id="right-arm-semantic">—</p> |
| </article> |
| </div> |
| <p id="annotation-provenance" class="annotation-provenance mono"></p> |
| </div> |
| <div class="annotation-timeline-area"> |
| <div id="annotation-timeline" class="annotation-timeline" aria-label="Qwen 左右臂独立语义时间轴"></div> |
| <div id="annotation-legend" class="annotation-legend"></div> |
| <p class="annotation-note">上下两条时间轴分别表示 LEFT ARM 与 RIGHT ARM。色块重叠表示双臂同时动作；色块错开表示一臂动作时另一臂等待或保持。source frame 显示 native retime 为当前物理帧选择的左右臂独立源进度。</p> |
| </div> |
| </div> |
| </section> |
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| <section class="transport panel" aria-label="统一播放控制"> |
| <button id="play-button" class="play-button" type="button" aria-label="播放" disabled>▶</button> |
| <div class="timeline-wrap"> |
| <div id="router-markers" aria-label="固定时间路由器边界"></div> |
| <div class="timeline-meta"> |
| <span id="time-label" class="mono">00:00.000 / 00:00.000</span> |
| <span id="episode-meta">正在加载…</span> |
| </div> |
| <input id="timeline" type="range" min="0" max="1" step="0.001" value="0" aria-label="统一时间轴"> |
| </div> |
| <label class="rate-control"> |
| 速度 |
| <select id="rate-select"> |
| <option value="0.25">0.25×</option> |
| <option value="0.5">0.5×</option> |
| <option value="1" selected>1×</option> |
| <option value="1.5">1.5×</option> |
| <option value="2">2×</option> |
| </select> |
| </label> |
| <span id="status" role="status">初始化中</span> |
| </section> |
| </main> |
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