diff --git a/lerobot/common/robot_devices/motors/realman_dual.py b/lerobot/common/robot_devices/motors/realman_dual.py
index a83d75900..ef8fe3442 100644
--- a/lerobot/common/robot_devices/motors/realman_dual.py
+++ b/lerobot/common/robot_devices/motors/realman_dual.py
@@ -85,6 +85,7 @@ class RealmanDualMotorsBus:
         """初始化线程控制"""
         self.left_slow_busy = False
         self.right_slow_busy = False
+        self.gripper_busy = False
         self._thread_lock = threading.Lock()
 
         # 添加读取相关的线程控制
@@ -256,8 +257,21 @@ class RealmanDualMotorsBus:
         self.right_rmarm.rm_movep_canfd(target_endpose[6:], False)
 
     def write_dual_gripper(self, left_gripper: int, right_gripper: int):
-        self.left_rmarm.rm_set_gripper_position(left_gripper, False, 2)
-        self.right_rmarm.rm_set_gripper_position(right_gripper, False, 2)
+        try:
+            self.left_rmarm.rm_set_gripper_position(left_gripper, False, 2)
+            self.right_rmarm.rm_set_gripper_position(right_gripper, False, 2)
+        finally:
+            self.gripper_busy = False
+
+    def _execute_gripper_thread(self, left_gripper: int, right_gripper: int):
+        if not getattr(self, 'gripper_busy'):
+            setattr(self, 'gripper_busy', True)
+            
+            threading.Thread(
+                target=self.write_dual_gripper,
+                args=(left_gripper, right_gripper),
+                daemon=True
+            ).start()
 
     def read_current_arm_joint_state(self):
         return self.left_rmarm.rm_get_current_arm_state()[1]['joint'] + self.right_rmarm.rm_get_current_arm_state()[1]['joint']
@@ -315,6 +329,8 @@ class RealmanDualMotorsBus:
         self.right_rmarm.rm_movej_canfd(right_joints, follow=False)
         # self.right_rmarm.rm_movej_follow(right_joints)
         # self.right_rmarm.rm_set_gripper_position(right_gripper, block=False, timeout=2)
+        self._execute_gripper_thread(left_gripper, right_gripper)
+
     
     def read(self) -> Dict:
         """读取机械臂状态 - 直接从缓存获取"""
diff --git a/lerobot/common/robot_devices/robots/realman_dual.py b/lerobot/common/robot_devices/robots/realman_dual.py
index dd50f3dc4..32ddf27c8 100644
--- a/lerobot/common/robot_devices/robots/realman_dual.py
+++ b/lerobot/common/robot_devices/robots/realman_dual.py
@@ -105,11 +105,15 @@ class RealmanDualRobot:
         return obs_dict, action_dict
     
     def _update_state_queue(self):
-        # import pdb
-        # pdb.set_trace()
         """更新状态队列"""
-        current_state = list(self.arm.read()['joint'].values())
-        self.joint_queue.append(current_state)
+        current_state = self.arm.read()['joint']
+        current_state_lst = []
+        for data in current_state:
+            if "joint" in data:
+                current_state_lst.append(current_state[data] / 180)
+            elif "gripper" in data:
+                current_state_lst.append((current_state[data]-500)/500)
+        self.joint_queue.append(current_state_lst)
     
     def _capture_images(self) -> Dict[str, torch.Tensor]:
         """捕获图像"""
@@ -228,16 +232,11 @@ class RealmanDualRobot:
             state = self._read_robot_state()
             # 获取动作
             action = self.teleop.get_action(state)
-            # print(state['pose'])
-            # print(action['pose'])
-            # 执行动作
-            # import pdb
-            # pdb.set_trace()
             self._execute_action(action, state)
             # 更新状态队列
             self._update_state_queue()
-            
-            time.sleep(0.02)
+            time.sleep(0.019) # 50HZ
+
             if record_data:
                 data = self._prepare_record_data()
                 return data
diff --git a/lerobot/common/robot_devices/teleop/gamepad.py b/lerobot/common/robot_devices/teleop/gamepad.py
index 1a6a5a8a3..759bfc977 100644
--- a/lerobot/common/robot_devices/teleop/gamepad.py
+++ b/lerobot/common/robot_devices/teleop/gamepad.py
@@ -144,9 +144,11 @@ class ControllerBase:
         # validzone
         self.validzone = 0.05
         self.ratio = 1
-        self.gripper_vel = 50
+        self.gripper_vel = 100
         self.rxyz_vel = 5
         self.xyz_vel = 0.02
+        self.scale_up = 2
+        self.scale_down = 10
 
         # 线程控制标志
         self.running = False
@@ -228,9 +230,9 @@ class FlightStick(ControllerBase):
     def get_ratio_control_signal(self):
         ratio = self.ratio
         if self.states['axes'][2] > 0.8:
-            ratio = self.ratio / 5 
+            ratio = self.ratio / self.scale_down 
         elif self.states['axes'][2] < -0.8:
-            ratio = self.ratio * 2
+            ratio = self.ratio * self.scale_up
         return ratio
     
     def get_rx_control_signal(self):
@@ -316,9 +318,9 @@ class XboxStick(ControllerBase):
         """获取速度控制信号"""
         ratio = self.ratio
         if self.states['axes'][2] > 0.8:  # LT 按钮
-            ratio = self.ratio * 2
+            ratio = self.ratio * self.scale_up
         elif self.states['axes'][5] > 0.8:  # RT 按钮
-            ratio = self.ratio / 5
+            ratio = self.ratio / self.scale_down
         return ratio
     
     def get_gripper_control_signal(self):