From d53269739dd649ca0f2fa12ceb6ff2dcbd7e67eb Mon Sep 17 00:00:00 2001 From: m1ngsama Date: Fri, 20 Feb 2026 21:50:01 +0800 Subject: [PATCH] docs: update README for audio pipeline refactor and expanded config.py --- README.md | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index f8868b5..1dd99a8 100644 --- a/README.md +++ b/README.md @@ -266,7 +266,9 @@ DeepSeek-R1 的推理模型默认会输出思维链（`...`）。 *DeepSeek-R1 defaults to outputting a chain-of-thought. Pre-filling with `<｜Assistant｜>` forces the model to skip the thinking phase and output JSON directly, achieving 100% format compliance.* **Whisper 反幻觉** -三道防线：① 音频首尾静音裁剪；② `condition_on_previous_text=False`；③ 重复模式正则检测（去除"向右向右向右..."类幻觉）。 +三道防线，全部封装在 `RobotEar.get_text()` 内：① 音频首尾静音裁剪 + 时长上下限过滤；② `condition_on_previous_text=False`；③ 重复模式正则检测（去除"向右向右向右..."类幻觉）。音频相关阈值（静音灵敏度、最短/最长时长）均在 `config.py` 中统一配置。 + +*Three defences, all encapsulated in `RobotEar.get_text()`: silence trimming + duration guards; `condition_on_previous_text=False`; repeated-phrase regex dedup. All thresholds are tunable via `config.py`.* **工程坑：System Prompt 对齐** 训练与推理的 System Prompt 必须完全一致，否则模型输出偏移（如输出 500mm 而非 50mm）。已在代码注释中标注警告。 @@ -288,11 +290,12 @@ robot_arm/ ├── README.md 本文档 / This file ├── TRAINING.md 大模型 LoRA 微调研究笔记 / LLM fine-tuning notes ├── requirements.txt Python 依赖 / Dependencies -├── config.py 硬件与运动参数（支持环境变量覆盖）/ Hardware & motion constants +├── config.py 全局常量：硬件、运动、音频、手势（支持环境变量覆盖） +│ / All tunables: hardware, motion, audio & gesture constants │ ├── main.ino ESP32 固件，LEDC PWM 舵机控制 / ESP32 firmware ├── arm_main.py 机械臂运动学核心：D-H IK + S-Curve / Kinematics & control -├── whisper_main.py 语音识别封装 / ASR wrapper +├── whisper_main.py 语音识别全链路：静音裁剪→转录→纠错 / Full ASR pipeline (RobotEar) └── voice_main.py 主程序：语音→LLM→视觉→控制 / Main app orchestrator ```