dreamscale 0.1.0a24__tar.gz

dreamscale-0.1.0a24/.gitignore

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+# macOS
+.DS_Store
+
+# Python
+__pycache__/
+*.py[cod]
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
+.coverage
+htmlcov/
+
+# Local caches (e.g. lerobot dataset + smoke-test artifacts)
+.cache/
+
+# Virtual environments
+.venv/
+venv/
+
+# Build and packaging output
+build/
+dist/
+*.egg-info/
+
+# Local environment files
+.env
+.env.*
+!.env.example
+
+# Logs
+*.log
+
+# Experiment note assets and generated analysis payloads
+sandbox/experiments/*/notes/assets/
+
+# Local scratch/checkouts
+tmp/
+.worktrees/
+.codex/*
+!.codex/skills/
+!.codex/skills/**
+
+# Root cleanup holding area for generated/non-product artifacts moved out of
+# the repository root.
+sandbox/.root-artifacts/
+
+# Phase 0 traces and generated infra state (now under sandbox/)
+sandbox/traces/*.jsonl
+sandbox/traces/*.csv
+sandbox/traces/*.parquet
+sandbox/traces/mtr/
+sandbox/experiments/*/runs/**/mtr-*.txt
+sandbox/experiments/*/runs/**/qlog/
+
+# Raw experiment outputs stay local. Keep source, configuration, summaries,
+# result tables, and report images trackable, including inside run directories.
+sandbox/experiments/**/runs/**/*.jsonl
+sandbox/experiments/**/runs/**/*.mp4
+sandbox/experiments/**/runs/**/*.webm
+sandbox/experiments/**/runs/**/*.avi
+sandbox/experiments/**/runs/**/*.mov
+sandbox/experiments/**/runs/**/*.mkv
+sandbox/experiments/**/runs/**/timeline.json
+sandbox/experiments/**/runs/**/timeline.html
+sandbox/experiments/**/runs/**/frame_timeline.json
+sandbox/experiments/**/runs/**/actions.json
+sandbox/experiments/**/runs/**/*.npz
+sandbox/experiments/**/runs/**/*.npy
+sandbox/experiments/**/probe-results/**/*.jsonl
+sandbox/experiments/**/probe-results/**/*.mp4
+sandbox/experiments/**/probe-results/**/*.webm
+sandbox/experiments/**/probe-results/**/*.avi
+sandbox/experiments/**/probe-results/**/*.mov
+sandbox/experiments/**/probe-results/**/*.mkv
+sandbox/experiments/**/probe-results/**/timeline.json
+sandbox/experiments/**/probe-results/**/timeline.html
+sandbox/experiments/**/probe-results/**/frame_timeline.json
+sandbox/experiments/**/probe-results/**/actions.json
+sandbox/experiments/**/probe-results/**/*.npz
+sandbox/experiments/**/probe-results/**/*.npy
+sandbox/infra/terraform/.terraform/
+# .terraform.lock.hcl is intentionally committed so the whole team pins identical
+# provider versions. State now lives in S3 (see sandbox/infra/terraform/backend.tf);
+# the local tfstate files below are stale artifacts and stay ignored.
+sandbox/infra/terraform/terraform.tfstate
+sandbox/infra/terraform/terraform.tfstate.backup
+sandbox/infra/terraform/tfplan
+sandbox/infra/certs/
+
+# Local model checkpoints
+sandbox/policies/flash/molmoact2-so101/MolmoAct2-SO100_101/
+.gstack/
+
+# Cold-start benchmark run outputs (raw per-iteration meta/ssm dumps + combined.json).
+# Commit a baseline report.md by hand if you want to keep it; runs/ is ephemeral.
+mvp/benchmarks/runs/
+mvp/e2e/runs/
+sandbox/benchmarks/runs/

dreamscale-0.1.0a24/CHANGELOG.md

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+# Changelog
+
+Notable changes to the Dreamscale Python SDK (published as `dropbear` up to
+0.1.0a23) are recorded here.
+
+## 0.1.0a24 - Unreleased
+
+The SDK is renamed from `dropbear` to `dreamscale`: the PyPI package, the import
+package and the command. Behavior, the wire protocol and `dropbear-transport`
+0.1.1a9 are unchanged.
+
+- Install `dreamscale`, `import dreamscale` and run `dreamscale login`,
+  `dreamscale doctor` and so on. Recovery hints and install commands now say
+  `dreamscale`.
+- Existing code keeps working without changes through the `dropbear` 0.1.0a24
+  compatibility package. It depends on `dreamscale>=0.1.0a24,<0.2` and maps
+  every `dropbear.*` import to the same `dreamscale.*` module (one
+  `DeprecationWarning`). Its `dropbear` command prints a one-line notice and
+  runs `dreamscale`. Extras such as `dropbear[so101]` install the matching
+  `dreamscale` extra. Exact pins such as `dropbear==0.1.0a23` keep installing
+  that release.
+- Settings: new installs use `~/.dreamscale`. An existing `~/.dropbear`, and
+  `~/.config/dropbear/yam.json`, are used in place until the new location
+  exists; nothing is copied or moved. `dreamscale doctor` says when the old
+  directory is in use.
+- `DREAMSCALE_HOME` and `DREAMSCALE_API_KEY` are read first. `DROPBEAR_HOME`
+  and `DROPBEAR_API_KEY` still work, with a one-time `FutureWarning`.
+- `DreamscaleError` is the base error; `DropbearError` remains an alias.
+- Login accepts API keys with either the `dropbear_sk_` or `dreamscale_sk_`
+  prefix, and error details read `x-dreamscale-request-id` before
+  `x-dropbear-request-id`.
+- Logger names follow the package (`dreamscale.*`), and SDK threads are named
+  `dreamscale-*`. The YAM arm and camera lock files keep their names, so an
+  older `dropbear` process and `dreamscale` still exclude each other.
+
+## 0.1.0a23 - 2026-09-23
+
+- Correct the packaged YAM installation command to include the released async execution and recording features.
+- Remove stale pre-qualification wording from the Sourccey guide. Runtime Python code and the exact transport `0.1.1a9` dependency are unchanged from a22.
+
+## 0.1.0a22 - 2026-09-23
+
+- Pin transport `0.1.1a9`, which registers Sourccey in the shared supported-model and UDP port catalog. No wire format or inference behavior changes.
+
+## 0.1.0a21 - 2026-09-23
+
+- Add `dropbear.sourccey.observe()` for the four-camera, 16-coordinate Sourccey X-VLA contract.
+- Preserve the checkpoint's robot coordinates and complete 30-action chunks. Holds keep arm, gripper and lift positions while stopping base velocity.
+- Read Sourccey's action rate from the qualified server contract; reject unsupported cadence overrides and incomplete contracts.
+- Requires `dropbear-transport==0.1.1a8`. Endpoint admission remains gated on recorded-input qualification.
+
+## 0.1.0a20 - 2026-09-21
+
+- Preserve the first managed YAM action horizon, anchor it in measured state,
+  and wait 100 ms after the first accepted dispatch before the second observation.
+  Hold a newly measured pose on underruns; do not extrapolate missing motion or
+  burst overdue YAM commands after a slow callback.
+- Add opt-in YAM `motion_handover` (finite correction) and `motion_speed`
+  (intra-chunk speed adaptation), with one reference-speed tuning parameter.
+  Experimental modes keep grippers independent of arm damping; `auto` still
+  resolves to the existing motion mode.
+- Retain partial rollout summaries on interruption/error and distinguish startup
+  waiting, execution underruns, attempted and completed actuator callbacks.
+- Add `dropbear[trace]`, `TraceRecorder`, and `--trace-dir` / `--trace-images` for
+  bounded local Rerun recordings of inputs, queues, raw/merged trajectories,
+  requested/accepted/measured targets and timing. Record on the controller and
+  inspect the saved file on the Mac without opening cameras.
+
+## 0.1.0a18 - 2026-09-19
+
+- Keep MolmoAct2-BimanualYAM's Modal tunnel active between predictions with
+  native WebSocket pings every 75 ms. The existing 20-second pong timeout and
+  connection teardown remain in force; AWS QUIC and other models retain their
+  current transport settings. No new public SDK flag is required.
+- Close an opened WebSocket if client construction fails, including unavailable
+  codec initialization, before propagating the original error.
+
+## 0.1.0a17 - 2026-09-19
+
+- Recover transient tunnel opening timeouts or connection resets with up to
+  three bounded attachment attempts to the same session. Authentication and
+  protocol errors remain terminal; no duplicate allocation or inference occurs.
+
+- Keep normalized gripper targets within `[0,1]` when motion smoothing
+  MolmoAct2-BimanualYAM and DROID chunks. Reject out-of-range source targets;
+  raw DreamZero-YAM and SO101 gripper units remain unchanged.
+
+- Extend advanced AWS/Modal provider constraints to MolmoAct2-BimanualYAM.
+  Its qualified availability route uses Oregon L4 then Modal US-West L4.
+- Add `dropbear run yam --provider aws|modal --region available|nearest|us-west-2`.
+  Modal accepts `available` or `us-west-2`; the task runner retains RTC off,
+  30 Hz / 30 actions, a 450-second startup limit and explicit keep-warm control.
+
+## 0.1.0a16 - 2026-09-10
+
+### Added
+
+- Advanced SO101 `provider="aws"|"modal"` constraints on `connect()` and
+  `aconnect()`, combined with the existing region option. Explicit selection
+  requires server acknowledgement before allocation and cannot silently fall
+  back to another provider or escape an explicit region. Automatic placement
+  and the existing transport package remain unchanged.
+
+- Guided YAM camera and passive CAN setup now supports a LAN browser and
+  complete `--cli` fallback, with saved choices and resumable configuration.
+- An attended native YAM adapter and task runner keep local cameras and arms
+  connected across prediction, execution and stop/hold cycles. The package
+  includes the hardware guide, driver constraints and custom callback example.
+- BimanualYAM observations can carry optional Unix-epoch acquisition timestamps
+  for the top, left, and right cameras. The wire observation preserves each
+  source timestamp while recording assembly as its send time; existing callers
+  without timestamps retain the prior behavior.
+
+### Changed
+
+- Public `connect()` and `aconnect()` calls now keep compute warm for 60 seconds
+  by default. Passing `keep_warm=0` still disables retention, and lower-level
+  control-plane calls continue to omit keep-warm unless explicitly configured.
+
+## 0.1.0a15
+
+### Added
+
+- Generic synchronous and asynchronous policy runs can supply a
+  `read_hold_action` callback to read a fresh current-position target when the
+  action buffer underruns. The SDK invokes it only for current-position holds,
+  validates the exact finite action shape before hooks or actuation, and keeps
+  DreamZero's managed hold path explicit.
+
+## 0.1.0a14 - Unreleased
+
+### Fixed
+
+- A delayed first DreamZero action chunk now joins continuously from the action
+  the robot actually held while inference was in flight. The scheduler no
+  longer mistakes newly inserted actions for an already-committed prefix and
+  exempts them from motion smoothing.
+- Browser login retries transient start failures and tolerates up to three consecutive
+  transient poll failures instead of abandoning an approval immediately.
+- Browser login errors identify whether start, polling, or response validation failed and
+  retain a safe HTTP status and request ID when the service supplied them.
+
+### Changed
+
+- Compositions can suppress the generic post-login simulator and SO-101 next steps while
+  retaining the same verified credential flow.
+
+## 0.1.0a13 - 2026-08-23
+
+### Fixed
+
+- One-shot DreamZero predictions now preserve the model-specific queue metadata
+  contract instead of adding four generic scheduler fields that the strict
+  DreamZero server correctly rejects.
+
+## 0.1.0a12 - 2026-08-23
+
+### Fixed
+
+- DreamZero-YAM H.264 observations now accept the SDK's numeric `30.0` action
+  rate metadata. The encoder normalizes the already-validated exact-30-Hz
+  value to an integer before constructing its rational time base, instead of
+  failing locally before the first observation reaches inference.
+
+## 0.1.0a11 - 2026-08-23
+
+### Changed
+
+- DreamZero-YAM preserves all three source acquisition timestamps without
+  imposing a cross-camera skew limit. Each frame must still carry a valid
+  source timestamp, and downstream onboarding checks still require every
+  camera to be individually fresh. DreamZero-DROID retains its existing
+  50 ms skew contract.
+
+## 0.1.0a10 - 2026-08-17
+
+### Fixed
+
+- Install on Python 3.14. The `dreamzero` extra pinned `av==15.0.0`, which
+  publishes no cp314 wheel, so installing on 3.14 fell back to building PyAV
+  from source and failed on any machine without FFmpeg development headers.
+  The failure named `av`, not the Python version.
+
+  The pin becomes a range, `av>=15,<19`, rather than branching on Python
+  version. An exact pin is not available: this workspace also builds the
+  worker, which pins `av==15.0.0`, and two exact pins on one dependency cannot
+  both hold. Users resolve the newest wheel; in-repo the worker's pin wins, so
+  our tests keep exercising the deployed pairing. The worker still decodes with 15.0.0, and H.264 decode
+  is bit-exact across both builds -- decoding a stream from either encoder
+  yields byte-identical YUV. Measured against the source frames, the worker
+  reads an 18.1.0-encoded stream at 32.42 dB versus 32.43 dB for its own, so
+  what the model sees is unchanged.
+
+## 0.1.0a9 - Unreleased
+
+### Changed
+
+- DreamZero YAM now runs at its native 30 Hz control rate end to end. The
+  runtime contract and loop profile both declare 30 Hz, so a 24-action chunk
+  spans the 0.8 s the model was trained for. Earlier releases declared 15 Hz for
+  this model, which stretched each chunk over 1.6 s and executed every action at
+  roughly twice its intended duration.
+- `upstream_eval` and the asynchronous modes now drive separate loops.
+  `upstream_eval` keeps its strictly synchronous boundary cadence for reference
+  comparisons, while `async_8` and `async_latest` run an independently clocked
+  capture loop at the model's native rate.
+
+## 0.1.0a8 - 2026-08-16
+
+### Added
+
+- Numeric `keep_warm` support on `connect()` and `aconnect()`. Values from 1 to
+  3600 seconds retain the exact loaded AWS worker or Modal function after close
+  for a compatible reconnect; `0` remains the non-retaining default. Parked
+  reservations are billable, use rotated credentials, and remain distinct from
+  the connected-session `idle_timeout`. Immediate reconnects are protected from
+  reclaim-index propagation lag, and attached Modal calls have a local bounded
+  control-outage exit that drains accepted inference before credential revocation.
+
+### Changed
+
+- `upstream_eval` now follows a strictly synchronous reference cadence. The
+  SDK captures and submits one observation at each eight-action boundary,
+  waits for the chunk sourced from that exact observation, and only then
+  executes the next eight aligned actions at 15 Hz. Non-boundary observations
+  are not uploaded in this mode.
+- `async_8` and `async_latest` retain independent 15 Hz capture and their
+  existing latest-only asynchronous behavior. Server-owned T1/T4 history,
+  direct upstream replacement, action alignment, and the wire protocol are
+  unchanged.
+
+## 0.1.0a7 - 2026-08-14
+
+### Added
+
+- An accepted, work-conserving `async_latest` default for DreamZero-YAM. The
+  server remains single-flight and latest-only; DreamZero-DROID stays on
+  `async_8` and rejects explicit `async_latest`.
+- YAM `async_latest` reuses the established absolute-action motion smoother at
+  the SDK's temporally aligned merge boundary, with fixed 85% new-motion weight
+  and five-step absolute-target correction. The two committed actions remain
+  protected and no chunk is shifted or rebased.
+
+### Changed
+
+- DreamZero-YAM sampling omission now resolves to `async_latest`; explicit
+  `async_8` and `upstream_eval` remain compatibility/reference modes.
+- Managed DreamZero runs feed actuator-accepted targets back into later motion
+  merges when callbacks return `ActResult(accepted_action=...)`.
+- Merge telemetry reports `motion`, its resolved weight/correction horizon,
+  exact source tick and capture-to-execution age, and accurate overlapping
+  target revisions. Holds retain no false source provenance.
+
+### Qualification
+
+- Retained dev A/B/A evidence proved event-loop-scale redispatch. A fixed
+  offline replay through the production merge helper reduced velocity p99/max,
+  acceleration p95/p99/max, and jerk p95/p99/max below the worse `async_8`
+  control. Velocity p95 increased because smaller corrections span more ticks;
+  it remains reported. Recorded replay does not establish physical task success
+  or safety.
+
+## 0.1.0a6 - 2026-08-13
+
+### Added
+
+- Explicit DreamZero-YAM `async_latest` sampling support for qualification,
+  while DreamZero-DROID rejects the mode and retains `async_8`.
+- DreamZero action provenance through `source_control_tick` and the source
+  camera capture-to-execution age.
+- A configurable startup deadline: `connect()` and `aconnect()` accept a finite
+  positive `startup_timeout` for longer expected cold starts while preserving
+  the 900-second default.
+- A structured DreamZero episode lifecycle for externally clocked control via
+  `begin_episode()`, `step()`, and `end_episode()`.
+
+### Changed
+
+- DreamZero sampling omission is resolved by model so a qualified YAM default
+  can be promoted without changing DROID. The 2026-08-14 dev qualification did
+  not accept that promotion, so both models continue resolving omission to
+  `async_8`; YAM may select `async_latest` explicitly.
+- DreamZero merge telemetry now reports the actual maximum absolute revision
+  across overlapping future targets; direct suffix replacement is unchanged.
+- `run()` and `next_action()` now share one DreamZero temporal runtime.
+
+## 0.1.0a4 - 2026-08-12
+
+### Added
+
+- Automatic low-latency H.264/WSS camera transport for DreamZero-YAM via the
+  optional `dreamzero` extra, with three persistent encoders and strict server
+  decoding while DreamZero-DROID remains JPEG/WSS compatible.
+- Client-side `auto`, `output`, and `motion` action smoothing for
+  timestep-aligned chunks without changing inference cadence. `auto` selects
+  output averaging for delta actions and motion smoothing for absolute joints.
+- Raw chunk and merge hooks for measuring stale prefixes, overlap, and resolved
+  action revisions in physical control loops.
+- Optional accepted-action feedback from physical actuation callbacks so future
+  absolute-trajectory merges use the target accepted by the robot.
+
+### Changed
+
+- SO101 consumer motion traces can omit camera diagnostics and record requested
+  versus LeRobot-accepted joint targets without blocking action dispatch on file I/O.
+- Fully stale chunks are discarded instead of shifted into future control steps;
+  sync and async runs now expose the requested and resolved smoothing settings.
+- Smoothing fails closed on unsupported action spaces, malformed action
+  dimensions, and non-finite inputs or derived motion targets. Unsuccessful
+  experimental splice behavior was removed, and trace writer failures are
+  bounded and propagated to the caller.
+
+## 0.1.0a3 - 2026-07-28
+
+### Added
+
+- Honest run summaries covering completed observations, returned action chunks,
+  elapsed time, and measured end-to-end, server, and estimated network latency.
+- Predictable `nearest`, `available`, and explicit-region placement, including
+  robust multi-sample regional latency probing and clear effective-state
+  reporting.
+
+### Changed
+
+- Improved warm-capacity selection so `available` prefers usable warm compute
+  while `nearest` preserves genuinely lower-latency placement.
+- Hardened transport fallback with cross-transport observation idempotency and
+  exact action replay, preventing duplicate inference when a request changes
+  transport.
+
+## 0.1.0a2 - 2026-07-24
+
+### Added
+
+- Support for the base SDK and companion transport package on Python 3.11,
+  3.12, 3.13, and 3.14.
+- MolmoAct2-BimanualYAM observation and inference helpers, including the
+  corresponding transport wire contract.
+- Franka FR3 model metadata and state/action shape support.
+- Python 3.11-3.14 compatibility checks in pull-request and release CI.
+
+### Changed
+
+- Replaced Python 3.12-only type-alias syntax while preserving runtime alias
+  introspection.
+- Expanded the NumPy range for Python 3.14 wheels and constrained Typer to the
+  versions compatible with the SDK's secure login prompt.
+- Updated `dropbear doctor` and installation guidance for the supported Python
+  range.
+
+## 0.1.0a1 - 2026-07-23
+
+- Initial pre-alpha PyPI release of the Dropbear SDK and CLI.
+- Shipped the lean base install, QUIC transport integration, policy lifecycle,
+  SO-101 support, and optional local simulator dependencies.

dreamscale-0.1.0a24/LICENSE

@@ -0,0 +1,176 @@
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+Copyright 2026 Dreamscale Labs
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