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/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