sequence-ai 0.1.0__tar.gz

sequence_ai-0.1.0/.gitignore

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+.venv/
+dist/
+build/
+*.egg-info/
+__pycache__/

sequence_ai-0.1.0/LICENSE

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sequence_ai-0.1.0/PKG-INFO

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+Metadata-Version: 2.5
+Name: sequence-ai
+Version: 0.1.0
+Summary: Cloud inference for robot policies — a control loop that keeps the connection open and the action buffer full.
+Project-URL: Homepage, https://generalsequences.com
+Project-URL: Documentation, https://generalsequences.com/docs/
+Project-URL: Console, https://app.generalsequences.com
+Author: General Sequences
+License-Expression: Apache-2.0
+License-File: LICENSE
+Keywords: inference,manipulation,policy,robotics,vla
+Classifier: Development Status :: 4 - Beta
+Classifier: Environment :: Console
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Typing :: Typed
+Requires-Python: >=3.9
+Requires-Dist: httpx>=0.24
+Provides-Extra: dev
+Requires-Dist: pytest>=7; extra == 'dev'
+Description-Content-Type: text/markdown
+
+# sequence-ai
+
+Cloud inference for robot policies.
+
+```bash
+pip install sequence-ai
+```
+
+```python
+import sequence_ai
+
+with sequence_ai.connect(model="pi05-droid") as policy:
+    out = policy.run(
+        observe=robot.read_observation,
+        act=robot.apply_action,
+        validate=robot.is_safe,
+        hold=robot.hold,
+        max_actions=250,
+    )
+```
+
+---
+
+## What it does for you
+
+Four things, and each of them is something a loop written straight against the HTTP endpoints
+has to get right before it behaves properly on a robot:
+
+| | Without it |
+|---|---|
+| Keeps the connection open | 185 ms of handshake on every call — 60% of a bare request |
+| Refills before the buffer empties | The arm stops once per chunk, for a full round trip |
+| Classifies errors | No way to tell "wait 118 s" from "stop and page someone" |
+| One driver per buffer | Two loops on one handle interleave, and both report success |
+
+None of the four is guesswork. Every one is a defect that existed in this client, was measured,
+and was fixed — the numbers below are those measurements, not estimates.
+
+## It keeps the connection open
+
+Measured against the production gateway, six samples each:
+
+| | median | min | max |
+|---|---|---|---|
+| new connection per call | **305.9 ms** | 246.7 | 766.7 |
+| one reused connection | **121.0 ms** | 116.8 | 133.4 |
+
+**184.9 ms per call — 60% of the total — is TCP and TLS handshake.** That is what
+`with sequence_ai.connect(...)` removes. Nothing proprietary: any HTTP client that reuses a
+connection gets the same result. This package just makes it the default rather than
+something you have to remember.
+
+Why it matters: a chunk is a deadline. `pi05-droid` returns 1.00 s of motion per call, and a
+warm end-to-end `/v1/act` through this gateway measured **793 ms** — the next chunk has to
+arrive before the current one finishes playing, so 185 ms of avoidable handshake is a fifth
+of the entire budget.
+
+## Actions come in chunks
+
+One call returns a block of future actions, not a single command — between 0.5 s and 2.1 s
+of motion depending on the model. That is why cloud inference works at all: the control loop
+does not need a network round trip per control step.
+
+```python
+with sequence_ai.connect(model="pi05-droid") as policy:
+    pred = policy.predict(observation)
+    print(len(pred.action_chunk), "steps covering",
+          pred.action_chunk.covers_seconds, "s at",
+          pred.action_chunk.control_frequency_hz, "Hz")
+```
+
+## The gap between chunks is the hard part
+
+A loop that waits for the buffer to empty before asking for the next chunk stops the arm once
+per chunk, every chunk, for a full round trip. It is not an occasional hiccup — it is
+structural, and on the faster models it dominates:
+
+| model | chunk covers | refill | arm actually moving |
+|---|---:|---:|---:|
+| `cosmos3-edge-policy-droid` | 2.13 s | ~0.79 s | 73% |
+| `pi05-droid` | 1.00 s | ~0.79 s | 56% |
+| `lingbot-va-5b` | 0.64 s | ~0.79 s | 45% |
+| `lingbot-vla-v2-6b` | 0.50 s | ~0.79 s | **39%** |
+
+So `run()` starts the next inference *while the current chunk is still playing*, and reports
+what happened rather than hoping:
+
+```python
+out = policy.run(observe=..., act=..., max_actions=250, on_underrun=robot.hold_position)
+
+print(out)        # RunOutcome(250 actions over 17 chunks in 16.8s, completed)
+out.underruns     # times the buffer ran dry before the next chunk arrived
+out.underrun_s    # total seconds the arm spent with no command
+out.max_seam_jump # largest per-dimension step across a chunk boundary
+```
+
+**The trade, stated plainly:** a prefetched chunk is computed from an observation taken
+*before* the previous chunk finished, so the overlap window is open-loop. Freshness and
+continuity are in direct opposition here and no setting gets both. `prefetch=False` restores
+strictly closed-loop behaviour, stall included — right for bench work, wrong for a moving arm.
+
+`max_seam_jump` is a **measurement, not a correction**, and it stays one unless you ask
+otherwise. `smooth_seam=N` ramps the first N steps of each new chunk out of the last executed
+action, and it is the only setting in this library that changes a number on its way to the
+motors — so it is off by default and guarded twice: it applies only when the chunk declares an
+*absolute* action space (`action_chunk.action_space`), and never to the first chunk of a run.
+Blending deltas is not smoothing; it rescales the increments and moves the arm somewhere the
+model never asked for, so a delta chunk is passed through untouched even when you ask.
+`max_seam_jump` is measured *before* any blending, so turning it on cannot hide what it smooths.
+
+## Many robots at once
+
+**One `Policy` per control loop.** A `Policy` holds one action buffer, and two loops popping
+from it do not take turns — they interleave. Driving the same handle from a second thread
+raises, because both quieter options are worse: interleaving sends each robot a shuffled half
+of the other's plan while both loops report success, and a blocking lock would make the second
+loop run at half rate, underrunning on every chunk.
+
+```python
+def drive(robot, model):
+    with sequence_ai.connect(model=model) as policy:      # one each
+        return policy.run(observe=robot.read, act=robot.apply,
+                          validate=robot.is_safe, max_actions=250)
+
+with ThreadPoolExecutor() as pool:
+    left, right = pool.map(drive, [arm_l, arm_r], ["pi05-droid"] * 2)
+```
+
+This costs nothing to follow. The handshake is paid *once per `Policy`*, not once per call.
+Measured with eight loops running concurrently against one gateway: eight connections, ten
+requests each, zero sequence breaks, zero underruns. Requests arriving while the gateway is
+busy queue on the server rather than displacing work already in flight.
+
+## Cold starts
+
+A worker that is not loaded takes about **100 seconds** to become ready. The gateway does not
+stall on it — it answers 503 immediately with the number:
+
+```python
+try:
+    policy.predict(observation)
+except sequence_ai.Unavailable as exc:
+    if exc.warming:
+        print(f"loading; ready in ~{exc.retry_after_s}s")   # 118
+```
+
+`run()` can wait that out for you, **but only before the first action**:
+
+```python
+policy.run(..., startup_timeout_s=180)
+```
+
+That line is the whole design. Before the first action nothing is moving, so waiting is free.
+Once the arm is in motion, silently pausing it for two minutes and resuming from a
+two-minute-old plan is worse than stopping — so mid-run warming is raised, and `hold` fires.
+
+## Three ways to drive it
+
+From most control to least. They are the same request underneath; the difference is who owns
+the loop.
+
+```python
+policy.predict(obs)          # the whole chunk, you do everything
+policy.next_action(obs)      # we hold the buffer, you own the cadence
+policy.run(observe=, act=)   # we own the loop
+```
+
+## Safety
+
+**An action returned by any model is model output, not a safe robot command.**
+
+This library does not check joint limits, reachability, collisions, or whether a step is safe
+at the robot's current velocity. Bounds checking, a watchdog and an e-stop belong between
+this library and your motors.
+
+```python
+policy.run(
+    observe=robot.read_observation,
+    act=robot.apply_action,
+    validate=robot.is_safe,   # return False to stop the loop
+    hold=robot.hold,          # called if it stops early, or if act() raises
+    max_actions=250,
+)
+```
+
+`max_actions` is required and keyword-only. There is no `run_forever()` — an unbounded loop
+that moves a robot should not be startable by accident.
+
+`validate=None` is allowed for bench and simulation work, and warns once so it cannot happen
+silently on real hardware.
+
+## Errors are typed
+
+Because a controller reacts differently to each:
+
+| | meaning | what to do |
+|---|---|---|
+| `AuthError` | key missing, revoked, expired | stop; retrying will not help |
+| `OutOfCredit` | balance exhausted | stop and hold; top up |
+| `InvalidRequest` | bad model, malformed observation, body too large | fix it; deterministic |
+| `Unavailable` | upstream blip, or a cold worker | check `.warming` — see below |
+| `ChunkExhausted` | asked for an action with an empty buffer and no observation | pass `observation=` every call |
+
+## Configuration
+
+```bash
+export SEQUENCES_API_KEY=seq_live_...      # or pass api_key= to connect()
+export SEQUENCES_BASE_URL=...              # for staging; defaults to production
+```
+
+Get a key at [app.generalsequences.com](https://app.generalsequences.com).
+
+## Install footprint
+
+One dependency: `httpx`. Python 3.9+.
+
+A robot controller is often on a Jetson with a pinned, fragile Python environment, and ROS 2
+Humble ships Python 3.10. Every transitive dependency is another chance for the install to
+fail on the machine that actually matters.
+
+## If your controller is not Python
+
+The endpoints underneath are public and documented at
+[generalsequences.com/docs](https://generalsequences.com/docs/). There is no private control
+plane and nothing this package reaches that you cannot:
+
+```bash
+curl https://api.generalsequences.com/v1/act \
+  -H "Authorization: Bearer $SEQUENCES_API_KEY" \
+  -d '{"model":"accounts/sequences/models/pi05-droid","observation":{...}}'
+```
+
+Keeping that door open is deliberate — a vendor SDK that is the *only* supported way in locks
+you to one language, and robot controllers are very often C++. But it is a door, not the front
+entrance. The four items in the table at the top are work your client then has to do itself,
+and [the reference](https://generalsequences.com/docs/python/) documents each precisely enough
+to reimplement. Reaching for Python first is simply cheaper.