sequence-base 0.4.28__tar.gz → 0.4.29__tar.gz

{sequence_base-0.4.28 → sequence_base-0.4.29}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.5
 Name: sequence-base
-Version: 0.4.28
+Version: 0.4.29
 Summary: Shared foundation for the Sequences platform — wire contract, correlation, error taxonomy, constants. Used by the robot SDK, gateway, and container harness.
 Project-URL: Changelog, https://generalsequences.com/docs/changelog/
 Requires-Python: >=3.10

{sequence_base-0.4.28 → sequence_base-0.4.29}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "sequence-base"
-version = "0.4.28"
+version = "0.4.29"
 description = "Shared foundation for the Sequences platform — wire contract, correlation, error taxonomy, constants. Used by the robot SDK, gateway, and container harness."
 requires-python = ">=3.10"
 dependencies = ["pydantic>=2.0"]

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/__init__.py

@@ -130,6 +130,9 @@ from sequence_base.errors.transport import (
 from sequence_base.episode import Episode
 
 
+from sequence_base.feedback import Feedback
+
+
 from sequence_base import auth
 
 
@@ -174,7 +177,7 @@ __all__ = [
 
     "TransportUnavailable", "TransportWarming", "TransportRejected", "TransportOverloaded",
 
-    "Episode",
+    "Episode", "Feedback",
 
     "auth",
 ]

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/constants/version.py

@@ -4,7 +4,8 @@
 
 
 
-CONTRACT_VERSION = "0.5.25"
+CONTRACT_VERSION = "0.5.26"
+
 
 
 

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/contract/connect.py

@@ -62,3 +62,6 @@ class ConnectResponse(BaseModel):
 
     observations: Observations | None = None
     actions: Actions | None = None
+
+
+    feedback: bool | None = None

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/contract/deployments.py

@@ -184,6 +184,9 @@ class DeploymentPolicy(BaseModel):
 
 
     streaming: bool = Field(default=False, exclude=True)
+
+
+    feedback: bool | None = None
     secrets: list[SecretRef] = Field(default_factory=list)
 
 

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/contract/own_io.py

@@ -163,6 +163,9 @@ class Actions(BaseModel):
     open_loop_horizon: int | None = Field(default=None, ge=1, le=100_000)
 
 
+    aligned: bool | None = None
+
+
 class Tensors(BaseModel):
     """A policy's inputs reach its code as torch tensors on its device - a batch dimension first when `batch` - and the
     tensors it answers with go back as arrays; float64 arrays arrive as float32. Converted in the replica, last before

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/contract/policy.py

@@ -377,6 +377,10 @@ class PolicySpec(BaseModel):
 
     streaming: bool = Field(default=False, exclude=True)
 
+
+
+    feedback: bool | None = None
+
     action: ActionContract | None = None
 
     observation: ObservationContract | None = None

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/contract/wire.py

@@ -46,6 +46,11 @@ class ActRequest(BaseModel):
                             description="The newest observation's number in its episode's stream (POST /observe)")
 
 
+
+    feedback: dict[str, Any] | None = Field(default=None,
+                                            description="What the robot was playing: left, delay, played, last")
+
+
 class ActResponse(BaseModel):
     """200 from /act, version 2. `outputs` is infer()'s return value, unchanged; the rest is platform metadata."""
 

sequence_base-0.4.29/sequence_base/feedback.py

@@ -0,0 +1,106 @@
+"""
+What a policy that asks for execution feedback is handed (PolicySpec.feedback): its infer declares `feedback` and gets,
+with each act, what the robot was playing when it sent that act - the rows it had not played yet, how many control
+steps it expects to play before the answer is back, how many rows of its chunk it had played, and the row it played
+last.
+
+In one sentence: the robot's executor (sequence_ai.Player, or an eval's) → puts {left, delay, played, last} in the act
+it sends → the worker checks it by feedback_of and hands infer a Feedback → a policy that inpaints (RTC) freezes the rows
+the delay covers, one trained on its last action reads `last`.
+
+WHY the executor fills it, act by act, and the platform keeps none of it: which rows are left and how long a round
+trip takes only the robot knows - a worker times the inference alone.
+
+"""
+from __future__ import annotations
+
+import numbers
+from collections.abc import Mapping
+from typing import Any
+
+__all__ = ["Feedback", "feedback_of", "KEYS"]
+
+
+KEYS = ("left", "delay", "played", "last")
+
+
+class Feedback:
+    """What the robot was playing when it sent this act: `left` - the rows of the chunk it was playing that it had not
+    played yet, in order, the ones due first and then the chunk's spare ones (empty on an episode's first act, or when
+    it held none); `delay` - how many control steps it expects to play before this answer is back, its longest of its
+    last 10 round trips times its control rate, rounded up (0 before it measured one, and in an eval); `played` - how
+    many rows of that chunk it had played when it observed; `last` - the row it played last, as the platform clipped it
+    (None before it played one). All four are the robot's: they are read, never set."""
+
+    __slots__ = ("_left", "_delay", "_played", "_last")
+
+    def __init__(self, left: Any = (), delay: int = 0, played: int = 0, last: Any = None) -> None:
+        object.__setattr__(self, "_left", tuple(left))
+        object.__setattr__(self, "_delay", int(delay))
+        object.__setattr__(self, "_played", int(played))
+        object.__setattr__(self, "_last", last)
+
+    @property
+    def left(self) -> tuple:
+        return self._left
+
+    @property
+    def delay(self) -> int:
+        return self._delay
+
+    @property
+    def played(self) -> int:
+        return self._played
+
+    @property
+    def last(self) -> Any:
+        return self._last
+
+    def __setattr__(self, name: str, value: Any) -> None:
+        raise AttributeError(f"Feedback.{name} is what the robot was playing: read it, never set it")
+
+    def __repr__(self) -> str:
+        return (f"Feedback(left={len(self._left)} rows, delay={self._delay}, played={self._played}, "
+                f"last={self._last!r})")
+
+
+def feedback_of(value: Any, width: int | None = None) -> Feedback:
+    """The Feedback an act's `feedback` says - a dict of `left` (a list of rows, or an array of them), `delay` and
+    `played` (counts from 0) and `last` (a row, or None) - checked, the one rule a worker and a robot's SDK read it by:
+    with `width` (the robot-arm preset's action_dim) each row is that many numbers; without, a row of a policy's own
+    outputs is handed as it came. Raises ValueError saying what is wrong."""
+    if not isinstance(value, Mapping):
+        raise ValueError(f"feedback is a dict of {', '.join(KEYS)}, not {type(value).__name__}")
+    unknown = [k for k in value if k not in KEYS]
+    if unknown:
+        raise ValueError(f"feedback has no {', '.join(map(repr, unknown))}: it holds {', '.join(KEYS)}")
+    left = value.get("left")
+    if left is None:
+        left = ()
+    elif isinstance(left, (str, bytes, Mapping)) or not (isinstance(left, (list, tuple))
+                                                        or (getattr(left, "ndim", 0) or 0) >= 1):
+        raise ValueError(f"feedback's left is the rows the robot had not played, a list of them, not "
+                         f"{type(left).__name__}")
+    rows = list(left)
+    counts = {}
+    for key in ("delay", "played"):
+        n = value.get(key, 0)
+        if isinstance(n, bool) or not isinstance(n, numbers.Integral) or n < 0:
+            raise ValueError(f"feedback's {key} is a count of control steps from 0, not {n!r}")
+        counts[key] = int(n)
+    last = value.get("last")
+    if width is not None:
+        for where, row in [*((f"left[{i}]", r) for i, r in enumerate(rows)),
+                           *((("last", last),) if last is not None else ())]:
+            _fits(where, row, width)
+    return Feedback(rows, counts["delay"], counts["played"], last)
+
+
+def _fits(where: str, row: Any, width: int) -> None:
+    if isinstance(row, (str, bytes, Mapping)) or not (isinstance(row, (list, tuple)) or getattr(row, "ndim", None) == 1):
+        raise ValueError(f"feedback's {where} is a row of {width} numbers (the policy's action_dim), not "
+                         f"{type(row).__name__}")
+    if len(row) != width:
+        raise ValueError(f"feedback's {where} has {len(row)} values; the policy's action_dim is {width}")
+    if not all(isinstance(v, numbers.Real) and not isinstance(v, bool) for v in row):
+        raise ValueError(f"feedback's {where} is a row of {width} numbers (the policy's action_dim)")

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/presets/robot_arm.py

@@ -129,6 +129,10 @@ class ActionContract(BaseModel):
     bounds: list[tuple[float, float]] | None = Field(default=None, max_length=256)
     max_delta: float | list[float] | None = None
 
+
+
+    aligned: bool | None = None
+
     @model_validator(mode="after")
     def _limits_fit(self) -> "ActionContract":
         if self.bounds is not None:

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/ActRequest.json

@@ -28,6 +28,20 @@
       "description": "The episode this call belongs to (per-episode state)",
       "title": "Episode Id"
     },
+    "feedback": {
+      "anyOf": [
+        {
+          "additionalProperties": true,
+          "type": "object"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "description": "What the robot was playing: left, delay, played, last",
+      "title": "Feedback"
+    },
     "inputs": {
       "description": "Whatever the policy's infer() takes, exactly as the robot's code built it",
       "title": "Inputs"
@@ -93,5 +107,5 @@
   ],
   "title": "ActRequest",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/ActResponse.json

@@ -89,5 +89,5 @@
   ],
   "title": "ActResponse",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/ActionChunk.json

@@ -99,5 +99,5 @@
   ],
   "title": "ActionChunk",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/ActionContract.json

@@ -23,6 +23,18 @@
     "action_space": {
       "$ref": "#/$defs/ActionSpace"
     },
+    "aligned": {
+      "anyOf": [
+        {
+          "type": "boolean"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "Aligned"
+    },
     "bounds": {
       "anyOf": [
         {
@@ -84,5 +96,5 @@
   ],
   "title": "ActionContract",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/ActionStep.json

@@ -19,5 +19,5 @@
   ],
   "title": "ActionStep",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/Actions.json

@@ -2,6 +2,18 @@
   "additionalProperties": false,
   "description": "Which rows of a policy's answer play. `key`: the answer's field that holds them (None: the answer itself) - a\nlist of rows or a 2-D array, played in order, `hz` rows a second, `open_loop_horizon` of them before the next act\n(None: all). A shorter answer plays whole and the next act comes sooner; a longer one is cut there. With `hz` a worker\nknows how long one answer plays (open_loop_horizon / hz) and a control period (1 / hz) and times a copy's robots by\nthem, as a robot-arm chunk's covers_seconds and control_frequency_hz do. Undeclared, an answer plays as the default\nsays: a dict or a 1-D list one action, a 2-D one row by row.",
   "properties": {
+    "aligned": {
+      "anyOf": [
+        {
+          "type": "boolean"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "Aligned"
+    },
     "hz": {
       "anyOf": [
         {
@@ -47,5 +59,5 @@
   },
   "title": "Actions",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/AdapterPair.json

@@ -17,5 +17,5 @@
   ],
   "title": "AdapterPair",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/AddLocal.json

@@ -23,5 +23,5 @@
   ],
   "title": "AddLocal",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/Autoscaler.json

@@ -57,5 +57,5 @@
   },
   "title": "Autoscaler",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/BenchmarkConditionSpec.json

@@ -50,5 +50,5 @@
   ],
   "title": "BenchmarkConditionSpec",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/BenchmarkRegisterRequest.json

@@ -11,6 +11,18 @@
         "action_space": {
           "$ref": "#/$defs/ActionSpace"
         },
+        "aligned": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Aligned"
+        },
         "bounds": {
           "anyOf": [
             {
@@ -1077,5 +1089,5 @@
   ],
   "title": "BenchmarkRegisterRequest",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/BenchmarkSpec.json

@@ -471,7 +471,7 @@
       ],
       "title": "SeqFlags",
       "type": "integer",
-      "x-contract-version": "0.5.25",
+      "x-contract-version": "0.5.26",
       "x-flag-names": {
         "CHECK": 65536,
         "INFER": 16,
@@ -722,5 +722,5 @@
   ],
   "title": "BenchmarkSpec",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/BenchmarkStatusResponse.json

@@ -40,5 +40,5 @@
   ],
   "title": "BenchmarkStatusResponse",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/BootstrapResponse.json

@@ -79,5 +79,5 @@
   ],
   "title": "BootstrapResponse",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/Camera.json

@@ -122,5 +122,5 @@
   ],
   "title": "Camera",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/CodeBundle.json

@@ -23,5 +23,5 @@
   ],
   "title": "CodeBundle",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/Concurrency.json

@@ -96,5 +96,5 @@
   },
   "title": "Concurrency",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/Conditions.json

@@ -55,5 +55,5 @@
   ],
   "title": "Conditions",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/ConnectRequest.json

@@ -25,5 +25,5 @@
   ],
   "title": "ConnectRequest",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/ConnectResponse.json

@@ -11,6 +11,18 @@
         "action_space": {
           "$ref": "#/$defs/ActionSpace"
         },
+        "aligned": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Aligned"
+        },
         "bounds": {
           "anyOf": [
             {
@@ -89,6 +101,18 @@
       "additionalProperties": false,
       "description": "Which rows of a policy's answer play. `key`: the answer's field that holds them (None: the answer itself) - a\nlist of rows or a 2-D array, played in order, `hz` rows a second, `open_loop_horizon` of them before the next act\n(None: all). A shorter answer plays whole and the next act comes sooner; a longer one is cut there. With `hz` a worker\nknows how long one answer plays (open_loop_horizon / hz) and a control period (1 / hz) and times a copy's robots by\nthem, as a robot-arm chunk's covers_seconds and control_frequency_hz do. Undeclared, an answer plays as the default\nsays: a dict or a 1-D list one action, a 2-D one row by row.",
       "properties": {
+        "aligned": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Aligned"
+        },
         "hz": {
           "anyOf": [
             {
@@ -517,6 +541,18 @@
       "default": null,
       "title": "Embodiment"
     },
+    "feedback": {
+      "anyOf": [
+        {
+          "type": "boolean"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "Feedback"
+    },
     "io": {
       "anyOf": [
         {
@@ -568,5 +604,5 @@
   ],
   "title": "ConnectResponse",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/DeploymentAccepted.json

@@ -18,5 +18,5 @@
   ],
   "title": "DeploymentAccepted",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/DeploymentPolicy.json

@@ -11,6 +11,18 @@
         "action_space": {
           "$ref": "#/$defs/ActionSpace"
         },
+        "aligned": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Aligned"
+        },
         "bounds": {
           "anyOf": [
             {
@@ -89,6 +101,18 @@
       "additionalProperties": false,
       "description": "Which rows of a policy's answer play. `key`: the answer's field that holds them (None: the answer itself) - a\nlist of rows or a 2-D array, played in order, `hz` rows a second, `open_loop_horizon` of them before the next act\n(None: all). A shorter answer plays whole and the next act comes sooner; a longer one is cut there. With `hz` a worker\nknows how long one answer plays (open_loop_horizon / hz) and a control period (1 / hz) and times a copy's robots by\nthem, as a robot-arm chunk's covers_seconds and control_frequency_hz do. Undeclared, an answer plays as the default\nsays: a dict or a 1-D list one action, a 2-D one row by row.",
       "properties": {
+        "aligned": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Aligned"
+        },
         "hz": {
           "anyOf": [
             {
@@ -684,6 +708,18 @@
       "default": null,
       "title": "Family"
     },
+    "feedback": {
+      "anyOf": [
+        {
+          "type": "boolean"
+        },
+        {
+          "type": "null"
+        }
+      ],
+      "default": null,
+      "title": "Feedback"
+    },
     "handler_ref": {
       "title": "Handler Ref",
       "type": "string"
@@ -797,5 +833,5 @@
   ],
   "title": "DeploymentPolicy",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }

{sequence_base-0.4.28 → sequence_base-0.4.29}/sequence_base/schemas/DeploymentRequest.json

@@ -11,6 +11,18 @@
         "action_space": {
           "$ref": "#/$defs/ActionSpace"
         },
+        "aligned": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Aligned"
+        },
         "bounds": {
           "anyOf": [
             {
@@ -89,6 +101,18 @@
       "additionalProperties": false,
       "description": "Which rows of a policy's answer play. `key`: the answer's field that holds them (None: the answer itself) - a\nlist of rows or a 2-D array, played in order, `hz` rows a second, `open_loop_horizon` of them before the next act\n(None: all). A shorter answer plays whole and the next act comes sooner; a longer one is cut there. With `hz` a worker\nknows how long one answer plays (open_loop_horizon / hz) and a control period (1 / hz) and times a copy's robots by\nthem, as a robot-arm chunk's covers_seconds and control_frequency_hz do. Undeclared, an answer plays as the default\nsays: a dict or a 1-D list one action, a 2-D one row by row.",
       "properties": {
+        "aligned": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Aligned"
+        },
         "hz": {
           "anyOf": [
             {
@@ -553,6 +577,18 @@
           "default": null,
           "title": "Family"
         },
+        "feedback": {
+          "anyOf": [
+            {
+              "type": "boolean"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "default": null,
+          "title": "Feedback"
+        },
         "handler_ref": {
           "title": "Handler Ref",
           "type": "string"
@@ -1578,5 +1614,5 @@
   ],
   "title": "DeploymentRequest",
   "type": "object",
-  "x-contract-version": "0.5.25"
+  "x-contract-version": "0.5.26"
 }