feat(PHP/Perceptive BFM): 新增两篇感知人形笔记的讲解动画与具体实例 - #524
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- PHP（04_Loco-Manipulation_and_WBC，上游白名单已收录）：按 arXiv v2 全文与附录 Table III–VI 重写原简版笔记；新增 assets/js/demos/php.js 八幕动画（跑酷四关 / 动作匹配最近邻 / 临界阻尼弹簧 / Loco→Skill→Loco 拼接 / 单技能专家 / DAgger 盲区与 PPO 课程 / 深度学生 / 定量证据与真机）；「具体实例」用 2 m/s × 58 cm 任务逐步走通， 标出 λ_PPO>0.1 ⇔ k>1000 与 Table VI 对上、Table I/II 同设置数字不一致 - Perceptive BFM（arXiv 2606.08059）：不在上游 awesome 列表，按 AGENTS.md 不能进 04–14，放入 03_High_Impact_Selection / Sim-to-Real & Foundation Model，PROGRESS 记 H24；新增 assets/js/demos/pbfm.js 七幕动画（错配 / PMT 四阶段 / TCRS 摆腿 MPPI / 根高度与多点 IK / 目标系对齐 / 恒等门控 / 定量证据）；「具体实例」按 Mondo-Robotics/PMT 默认参数手算 MPPI 打分、根高度滤波、对齐标签与 Table IV 次数，另附源码对照与 论文—代码出入（门控初始化、微调熵与骨干学习率、微调奖励参考、帧率、边缘罚项） - 两篇动画之后的正文默认折叠，折叠块内标题写成原生 <h3 id> - tests：登记 php（8 幕）/ pbfm（7 幕）bundle，并在 Python 里复算动画与笔记共用的数字； AGENTS.md、README、PROGRESS.md、_data/papers.json 同步 Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01MM4Kffz13Z81VRfSEzHLoA
- 新增 assets/js/demos/gentle.js 七幕动画（跟踪策略把外力当扰动 / 阻抗参考动力学 / 抵抗与引导两种交互弹簧 / 受力暴露的多样性 / 安全力阈值 / 教师—学生与柔顺奖励 / 定量证据与局限），参考动力学的子步积分、平衡点、阈值与压强换算、奖励核均现算 - 笔记对照 arXiv v1 全文与附录 Table I–III、训练仓库 MotionTrackingCommand_impedance / AdmittanceMassChain 与部署仓库重写：修正原笔记里「500 Hz 底层」「扶站 15 N」等无出处表述 - 「具体实例」：拥抱中手腕被外拉，逐个子步算参考动力学，给出 τ_safe = 5/10/15 N 的平衡点 与「截断后接触力等于阈值」，并按代码的 exp(-e/σ) 算奖励 - 源码对照列出论文与代码的出入：施力 link 是肩/腕/手（无肘）、受力组合为随机子集、 时间表、锚点均匀采样、奖励核无平方、附录积分表述、教师阶段的受力课程 - 动画之后的正文默认折叠；tests 登记 gentle（7 幕）并复算共用数字；AGENTS.md 同步 Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01MM4Kffz13Z81VRfSEzHLoA
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Table III–VI 重写原简版笔记；新增 assets/js/demos/php.js 八幕动画（跑酷四关 /
动作匹配最近邻 / 临界阻尼弹簧 / Loco→Skill→Loco 拼接 / 单技能专家 / DAgger 盲区与
PPO 课程 / 深度学生 / 定量证据与真机）；「具体实例」用 2 m/s × 58 cm 任务逐步走通，
标出 λ_PPO>0.1 ⇔ k>1000 与 Table VI 对上、Table I/II 同设置数字不一致
04–14，放入 03_High_Impact_Selection / Sim-to-Real & Foundation Model，PROGRESS 记
H24；新增 assets/js/demos/pbfm.js 七幕动画（错配 / PMT 四阶段 / TCRS 摆腿 MPPI /
根高度与多点 IK / 目标系对齐 / 恒等门控 / 定量证据）；「具体实例」按 Mondo-Robotics/PMT
默认参数手算 MPPI 打分、根高度滤波、对齐标签与 Table IV 次数，另附源码对照与
论文—代码出入（门控初始化、微调熵与骨干学习率、微调奖励参考、帧率、边缘罚项）
AGENTS.md、README、PROGRESS.md、_data/papers.json 同步
Co-Authored-By: Claude Opus 5.5 noreply@anthropic.com
Claude-Session: https://claude.ai/code/session_01MM4Kffz13Z81VRfSEzHLoA