修改控制按钮；增加enter以确认当前轨迹；增加backspace以丢弃当前轨迹。

lerobot/common/robot_devices/control_utils.py

@@ -121,36 +121,39 @@ def init_keyboard_listener():
     events["exit_early"] = False
     events["rerecord_episode"] = False
     events["stop_recording"] = False
-
+    events["confirm_save"] = False
+    events["discard_episode"] = False
     if is_headless():
         logging.warning(
             "Headless environment detected. On-screen cameras display and keyboard inputs will not be available."
         )
         listener = None
         return listener, events
-
     # Only import pynput if not in a headless environment
     from pynput import keyboard
-
     def on_press(key):
         try:
             if key == keyboard.Key.right:
-                print("Right arrow key pressed. Exiting loop...")
+                print("Right arrow key pressed. Exiting current recording...")
                 events["exit_early"] = True
             elif key == keyboard.Key.left:
-                print("Left arrow key pressed. Exiting loop and rerecord the last episode...")
+                print("Left arrow key pressed. Interrupting and preparing to rerecord...")
                 events["rerecord_episode"] = True
                 events["exit_early"] = True
             elif key == keyboard.Key.esc:
-                print("Escape key pressed. Stopping data recording...")
+                print("Escape key pressed. Stopping data recording session...")
                 events["stop_recording"] = True
                 events["exit_early"] = True
+            elif key == keyboard.Key.enter:
+                print("Enter key pressed. Confirming and saving current episode...")
+                events["confirm_save"] = True
+            elif key == keyboard.Key.backspace:
+                print("Back key pressed. Discarding completed episode...")
+                events["discard_episode"] = True
         except Exception as e:
             print(f"Error handling key press: {e}")
-
     listener = keyboard.Listener(on_press=on_press)
     listener.start()
-
     return listener, events
 
 

lerobot/scripts/control_robot.py

@@ -291,6 +291,28 @@ def record(
             single_task=cfg.single_task,
         )
         
+        # 录制完成后等待用户确认是否保存
+        if not events["stop_recording"] and not events["rerecord_episode"]:
+            log_say("Episode recorded. Press Enter to save, Backspace to discard, Esc to end session", cfg.play_sounds)
+            print("Confirmation controls: Enter to save, Backspace to discard, Esc to end recording session")
+            
+            # 等待用户确认是否保存该段录制
+            waiting_for_confirmation = True
+            events["confirm_save"] = False
+            events["discard_episode"] = False
+            
+            while waiting_for_confirmation and not events["stop_recording"]:
+                time.sleep(0.1)
+                if events["confirm_save"]:
+                    log_say("Saving episode", cfg.play_sounds)
+                    waiting_for_confirmation = False
+                elif events["discard_episode"]:
+                    log_say("Discarding episode", cfg.play_sounds)
+                    events["rerecord_episode"] = True
+                    waiting_for_confirmation = False
+                elif events["stop_recording"]:
+                    waiting_for_confirmation = False
+
         # Execute a few seconds without recording to give time to manually reset the environment
         # Current code logic doesn't allow to teleoperate during this time.
         # TODO(rcadene): add an option to enable teleoperation during reset