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fix: retain planning feedback and add acceptance probes

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wangfeiyu
2026-09-22 00:47:11 +08:00
parent f9d8feb6f0
commit 91bcd92d6b
12 changed files with 871 additions and 10 deletions
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robobrain/robot_robobrain/service.py
+8 -4
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@@ -26,9 +26,12 @@ class BrainService:
with open(path,'xb') as f:os.chmod(path,0o600);f.write(data);f.flush();os.fsync(f.fileno())
except FileExistsError:pass
result.update(image_path=str(path.resolve()),sha256=digest);return result
def _record(self,capability,goal,raw,result,observation=None):
def _record(self,capability,goal,raw,result,observation=None,prompt=None):
path=self.records/(uuid.uuid4().hex+'.json')
body=dict(schema_version=1,capability=capability,recorded_at_ns=time.time_ns(),model_version=self.backend.model_version,prompt_version=PROMPT_VERSION,input=goal,observation=observation,raw_output=raw,result=result)
body['prompt_provenance']=({'status':'captured','sha256':hashlib.sha256(prompt.encode('utf-8')).hexdigest(),
'template_sha256':hashlib.sha256(PLANNER_RULES.encode('utf-8')).hexdigest()} if prompt is not None and capability=='plan'
else {'status':'missing','reason':'no captured inference prompt for this record'})
with open(path,'x',encoding='utf-8') as f:
os.chmod(path,0o600);f.write(canonical(body));f.flush();os.fsync(f.fileno())
return str(path.resolve())
@@ -44,7 +47,7 @@ class BrainService:
if not isinstance(raw,str) or len(raw.encode())>262144:raise InferenceError('OUTPUT_TOO_LARGE')
return raw
def plan(self,goal,cancel=None):
raw=''
raw='';prompt=None
try:
if not isinstance(goal.get('instruction'),str) or not 0<len(goal['instruction'])<=1000 or not goal['instruction'].strip():raise InferenceError('INVALID_INPUT')
for key in ('task_revision','planning_generation'):
@@ -66,7 +69,8 @@ class BrainService:
else:
if len(extracted['items'])!=1:raise InferenceError('SEMANTIC_MISMATCH')
known={**extracted['items'][0],'destination':extracted['destination'],**known}
raw=self._call('plan',goal,PLANNER_RULES+'\nINPUT: '+canonical(goal),cancel)
prompt=PLANNER_RULES+'\nINPUT: '+canonical(goal)
raw=self._call('plan',goal,prompt,cancel)
try:data=strict_json(raw)
except (ValueError,TypeError):raise InferenceError('PARSE_ERROR')
if isinstance(data,dict) and set(data)=={'missing_information'}:
@@ -88,7 +92,7 @@ class BrainService:
if any(expected.get(k)!=v for k,v in known.items()):raise InferenceError('SEMANTIC_MISMATCH')
result=dict(status='PLAN_READY',plan=plan,error_code='')
except (InferenceError,ApiError,KeyError,TypeError,ValueError,AttributeError) as ex:result=dict(status='FAILED',error_code=getattr(ex,'code','INVALID_INPUT'),message=str(ex))
result['record_ref']=self._record('plan',goal,raw,result)
result['record_ref']=self._record('plan',goal,raw,result,prompt=prompt)
return result
def shelf(self,goal,observation,now_ns,max_age_ns=2_000_000_000,cancel=None):
raw='';obs=None